[Matlab] 双目相机模型仿真程序

以下是一个简单的双目相机模型仿真程序的Matlab代码：

% 设置左右相机参数
focal_length = 50; % 焦距
baseline = 0.1; % 基线距离
image_width = 640; % 图像宽度
image_height = 480; % 图像高度

% 生成3D点云
[X,Y] = meshgrid(-5:0.1:5,-5:0.1:5);
Z = 5*exp(-(X.^2+Y.^2)/25);
points3D = [X(:), Y(:), Z(:)];

% 计算左右相机的投影矩阵
left_proj_matrix = [focal_length, 0, image_width/2, 0;
                    0, focal_length, image_height/2, 0;
                    0, 0, 1, 0];
right_proj_matrix = [focal_length, 0, image_width/2, -baseline*focal_length;
                     0, focal_length, image_height/2, 0;
                     0, 0, 1, 0];

% 计算左右相机的投影结果
left_points2D = points3D * left_proj_matrix';
left_points2D(:,1) = left_points2D(:,1)./left_points2D(:,3);
left_points2D(:,2) = left_points2D(:,2)./left_points2D(:,3);
left_points2D(:,3) = [];

right_points2D = points3D * right_proj_matrix';
right_points2D(:,1) = right_points2D(:,1)./right_points2D(:,3);
right_points2D(:,2) = right_points2D(:,2)./right_points2D(:,3);
right_points2D(:,3) = [];

% 显示相机视角下的3D点云
figure;
subplot(1,2,1);
scatter3(points3D(:,1),points3D(:,2),points3D(:,3));
title('3D Point Cloud');

% 显示左右相机的图像
subplot(1,2,2);
imshow(zeros(image_height,2*image_width));
hold on;
scatter(left_points2D(:,1),left_points2D(:,2));
scatter(right_points2D(:,1)+image_width,right_points2D(:,2));
title('Stereo Images');

该程序生成一个高度为5，半径为5的圆柱体的3D点云，并根据左右相机的参数计算出它们在左右相机下的投影结果。最后，程序显示了3D点云和左右相机的图像。