測(cè)控系 視覺測(cè)量技術(shù) 作業(yè)報(bào)告

任意選6個(gè)點(diǎn)求解M矩陣的程序：%%6個(gè)點(diǎn)的m矩陣clearall;%清除所有變量formatlonggc=load('1.txt');u=c(:,1);v=c(:,2);x=c(:,3);y=c(:,4);z=c(:,5);U=[u(1,1);v(1,1);u(2,1);v(2,1);u(3,1);v(3,1);u(4,1);v(4,1);u(5,1);v(5,1);u(6,1);v(6,1);];fori=1:6K1(i,:)=[x(i,1),y(i,1),z(i,1),1,0,0,0,0,-u(i,1)*x(i,1),-u(i,1)*y(i,1),-u(i,1)*z(i,1)];K2(i,:)=[0,0,0,0,x(i,1),y(i,1),z(i,1),1,-v(i,1)*x(i,1),-v(i,1)*y(i,1),-v(i,1)*z(i,1)];endK=zeros(12,11);K(1:2:end,:)=K1;K(2:2:end,:)=K2;m=inv(K'*K)*K'*U運(yùn)行結(jié)果：m=0.0674130403849560.6299699222184320.01960290825181852115.47516803986-0.1909133227402320.157125517221917-0.5096484910199511378.79475435496-0.0001204361871579970.0001017017845653079.49558943269709e-062.選取全部特征點(diǎn)計(jì)算M矩陣程序：clearall;%??3y?ùóD±?á?formatlonggc=load('2.txt');u=c(:,2);v=c(:,3);%%82??μ?μ?m???óx=c(:,4);y=c(:,5);z=c(:,6);U=zeros(164,1);U(1:2:end,:)=u;U(2:2:end,:)=v;fori=1:82K1(i,:)=[x(i,1),y(i,1),z(i,1),1,0,0,0,0,-u(i,1)*x(i,1),-u(i,1)*y(i,1),-u(i,1)*z(i,1)];K2(i,:)=[0,0,0,0,x(i,1),y(i,1),z(i,1),1,-v(i,1)*x(i,1),-v(i,1)*y(i,1),-v(i,1)*z(i,1)];endK=zeros(164,11);K(1:2:end,:)=K1;K(2:2:end,:)=K2;m=inv(K'*K)*K'*U運(yùn)行結(jié)果：m=0.05716757532960080.6220062230479940.0187236453695062116.23216624928-0.1944008778018880.154344524997432-0.5096506254641191379.30512678988-0.0001235536575396449.90240838388021e-058.98897674328445e-063.求解反投影誤差程序：%%計(jì)算內(nèi)外參數(shù)m1=m(1:3,1);m2=m(5:7,1);m3=m(9:11,1);m14=m(4,1);m24=m(8,1);%%%模moddet（）是求行列式的函數(shù)norm(en)是求矩陣的模m34=1/norm(m3);tz=m34;r3=m34.*m3;u0=m34.^2*m1'*m3;v0=m34.^2*m2'*m3;fx=m34.^2.*norm(m1.*m3);fy=m34.^2.*norm(m2.*m3);r1=(m34.*(m1-u0.*m3))./fx;r2=(m34.*(m2-v0.*m3))./fy;tx=(m34.*(m14'-u0))./fx;ty=(m34.*(m24'-v0))./fy;%%反誤差z=c(:,5);s=z;A=[fx0u00;0fyv00;0010];Rt=[r