dlt相机标定代码matlab

以下是一个简单的DLT相机标定的Matlab代码示例：

% 读取标定板上的角点坐标
imagePoints = [x1, y1; x2, y2; ...];

% 世界坐标系中的标定板角点坐标
worldPoints = [X1, Y1, Z1; X2, Y2, Z2; ...];

% 使用DLT算法进行相机标定
[P, K, R, t] = dlt(imagePoints, worldPoints);

% 输出相机内参矩阵
disp('相机内参矩阵：');disp(K);

% 输出相机外参矩阵
disp('相机外参矩阵：');
disp([R, t]);

function [P, K, R, t] = dlt(imagePoints, worldPoints)
    % 构造A矩阵
    A = [];
    for i = 1:size(imagePoints, 1)
        X = worldPoints(i, 1);
        Y = worldPoints(i, 2);
        Z = worldPoints(i, 3);
        u = imagePoints(i, 1);
        v = imagePoints(i, 2);
        A = [A; X, Y, Z, 1, 0, 0, 0, 0, -u*X, -u*Y, -u*Z, -u; ...
                 0, 0, 0, 0, X, Y, Z, 1, -v*X, -v*Y, -v*Z, -v];
    end

    % 使用SVD分解求解A矩阵的最小二乘解
    [~, ~, V] = svd(A);
    P = V(:, end);
    P = reshape(P, 4, 3)';

    % 对P矩阵进行分解，得到相机内参矩阵K和相机外参矩阵[R, t]
    [K, R, t] = decompose(P);
end

function [K, R, t] = decompose(P)
    % 对P矩阵进行QR分解
    [Q, R] = qr(inv(P(1:3, 1:3)));

    % 对R矩阵进行调整，使其对角线元素均为正数
    T = diag(sign(diag(R)));
    if det(T) < 0
        T(2, 2) = -1;
    end
    R = R * T;
    Q = T * Q';

    % 计算相机内参矩阵K和相机外参矩阵[R, t]
    K = inv(R) * Q;
    t = inv(K) * P(:, 4);
end