www.gusucode.com > vision 源码程序 matlab案例代码 > vision/RefineCameraPosesAnd3DPointsExample.m

    %% Refine Camera Poses and 3-D Points
%
%%
% Load data for initialization.
load('sfmGlobe');
%%
% Refine the camera poses and points.
[xyzRefinedPoints,refinedPoses] = ...
    bundleAdjustment(xyzPoints,pointTracks,cameraPoses,cameraParams);
%%
% Display the refined camera poses and 3-D world points.
cameraSize = 0.1;
for j = 1:height(refinedPoses)
    id = refinedPoses.ViewId(j);
    loc = refinedPoses.Location{j};
    orient = refinedPoses.Orientation{j};
    plotCamera('Location',loc,'Orientation',orient,'Size',...
        cameraSize,'Color','r','Label',num2str(id),'Opacity',.5);
    hold on
end
pcshow(xyzRefinedPoints,'VerticalAxis','y','VerticalAxisDir',...
    'down','MarkerSize',45);
grid on