基于OpenCV的计算机视觉技术实现.rar

				function [m34, c0, a0, r1, r2, r3, t0] = a0FactM(M)
				%c0=[u0,v0]; a0=[ax,ay]; t0=[tx, ty, tz];
				
				%Factorization of calibration matrix
				%
				%by s.y.chen 2001-12-5
				%
				%INPUT: M 3*4.
				%
				%OUTPUT: [m34, u0, v0, ax, ay, r1, r2, r3, tx, ty, tz]
				%
				%Method: Ma SongDe (chinese), p58
				
				[m, n]=size(M);
				
				if [m, n]~=[3, 4],
				  disp('error: size does not match, M must be 3-by-4 matrix');
				  return;
				end;
				
				m=M(:,1:3);
				m1=m(1,:);
				m2=m(2,:);
				m3=m(3,:);
				
				m34=1.0/sqrt(m3*m3');
				r3=m34*m3;
				u0=m34*m34*m1*m3';
				v0=m34*m34*m2*m3';
				m13v=cross(m1,m3);
				ax=m34*m34*sqrt(m13v*m13v');
				m23v=cross(m2,m3);
				ay=m34*m34*sqrt(m23v*m23v');
				
				r1=m34/ax*(m1-u0*m3);
				r2=m34/ay*(m2-v0*m3);
				tz=m34;
				tx=m34/ax*(M(1,4)-u0);
				ty=m34/ay*(M(2,4)-v0);
				c0=[u0,v0]; a0=[ax,ay]; t0=[tx, ty, tz];