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Camera calibration from data points
C = camcald(d) is the camera matrix (3x4) determined by least squares from corresponding world and image-plane points. d is a table of points with rows of the form [X Y Z U V] where (X,Y,Z) is the coordinate of a world point and [U,V] is the corresponding image plane coordinate.
[C,E] = camcald(d) as above but E is the maximum residual error after back substitution [pixels].
Notes:
© 1990-2012 Peter Corke.