经典的张正友的摄像机的两步标定程序

				function A = affine(X,n,om,T,fc,cc,alpha_c)
				
				if nargin < 7,
				   alpha_c = 0;
				   if nargin < 6,
				      cc = [0;0];
				      if nargin < 5,
				         fc = [1;1];
				         if nargin < 4,
				            T = zeros(3,1);
				            if nargin < 3,
				               om = zeros(3,1);
				               if nargin < 2,
				                  n = [0;0;-1];
				                  if nargin < 1,
				                     error('Error: affine needs some arguments: A = affine(X,n,om,T,fc,cc,alpha_c);');
				                  end;
				               end;
				            end;
				         end;
				      end;
				   end;
				end;
				
				
				KK = [fc(1) alpha_c*fc(1) cc(1); 0 fc(2) cc(2);0 0 1];
				R = rodrigues(om);
				omega = n / dot(n,X);
				x = X/X(3);
				
				H = KK * [R + T*omega'] * inv(KK);
				
				A = (H(3,3)*H(1:2,1:2) - H(1:2,3)*H(3,1:2) + (H(3,2)*H(1:2,1) - H(3,1)*H(1:2,2))*[x(2) -x(1)])/(H(3,:)*x)^2;