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');