www.pudn.com > zhangzhengyou.rar > simon_H.m

% 
% *********************************************************************************** 
% *******          A Flexible New Technique for Camera Calibration            ******* 
% *********************************************************************************** 
%                            7/2004     
% 
% REF:	   "A Flexible New Technique for Camera Calibration" 
%           - Zhengyou Zhang  
%           - Microsoft Research  
% 
function f = simon_H(H, m, M) 
% unpack the params 
     
    %h=[H([1:3]); H([4:6]); H([7:8]),1]; 
    H=reshape(H,3,3); 
    h=H; 
% unpack the params_const 
     
    m=[m([1:2],:); ones(1,size(m,2))]; 
    M=[M([1:2],:); ones(1,size(M,2))]; 
     
    X=h*M; 
    X=[X(1,:)./X(3,:) ; X(2,:)./X(3,:); X(3,:)./X(3,:)]; 
     
    res=m-X; 
    req=[res(1,:), res(2,:)];  
     
     
    f = req;