clear
close all
load Calib_Results
rgb = imread('image2.jpg');
imshow(rgb);
ndx = find(X_2(2,:)==0);
ndy = find(X_2(1,:)==0);
mx = find(and(X_2(2,:)==0,X_2(1,:)==21));
my = find(and(X_2(2,:)==21,X_2(1,:)==0));
hold on
plot(x_2(1,ndx),x_2(2,ndx),'b','LineWidth',2);
plot(x_2(1,ndy),x_2(2,ndy),'y','LineWidth',2);
text(x_2(1,mx),x_2(2,mx),'X','Color','b','FontSize',21);
text(x_2(1,my),x_2(2,my),'Y','Color','y','FontSize',21);
hold off
R = rodrigues(omc_2)
Tw = -R'*Tc_2/12
R =
-0.7234 0.6902 0.0139
0.2542 0.2851 -0.9242
-0.6419 -0.6650 -0.3817
Tw =
7.5754
6.6345
4.6051
Tc = [-5.83074 6.61428 -4.59727]
[ -Tw(1)+21/12 Tw(2) -Tw(3)]
Tc =
-5.8307 6.6143 -4.5973
ans =
-5.8254 6.6345 -4.6051