www.gusucode.com > vision 源码程序 matlab案例代码 > vision/VisualizeStereoPairOfCameraExtrinsicParametersExample.m
%% Visualize Stereo Pair of Camera Extrinsic Parameters % %% % Specify calibration images. numImages = 10; images1 = cell(1,numImages); images2 = cell(1,numImages); for i = 1:numImages images1{i} = fullfile(matlabroot,'toolbox','vision',... 'visiondata','calibration','stereo',... 'left',sprintf('left%02d.png',i)); images2{i} = fullfile(matlabroot,'toolbox','vision',... 'visiondata','calibration','stereo',... 'right',sprintf('right%02d.png',i)); end %% % Detect the checkerboards. [imagePoints,boardSize] = detectCheckerboardPoints(images1,images2); %% % Specify world coordinates of checkerboard keypoints, (squares are in mm). squareSize = 108; worldPoints = generateCheckerboardPoints(boardSize,squareSize); %% % Calibrate the stereo camera system. cameraParams = estimateCameraParameters(imagePoints,worldPoints); %% % Visualize pattern locations. figure; showExtrinsics(cameraParams); %% % Visualize camera locations. figure; showExtrinsics(cameraParams,'patternCentric');