Diapositiva PPT

invT21=inv(T21);

P2Dw1=invT21*[Xu1; Yu1; f1; 1];

Ocw1=invT21(:,4);

T22 = [R2(:,1:3) T2];

invT22=inv(T22);

P2Dw2=invT22*[Xu2; Yu2; f2; 1] Ocw2=invT22(:,4);

u=P2Dw1(1:3,i)-Ocw1(1:3); v=P2Dw2(1:3,i)-Ocw2(1:3);

alpha=(pq'*v-(pq'*u)*norm(v)^2/(u'*v))/((u'*v)-norm(u)^2*norm(v)^2/(u'*v));

beta=(-pq'*u+alpha*norm(u)^2)/(u'*v);

r=Ocw1(1:3)+alpha.*u; s=Ocw2(1:3)+beta.*v;

P3Dstereo = (r+s)./2;

disterror = norm(r-s);