EPnP_matlab.zip_EPnP_epnp matlab_matlab 摄像头_多摄像头_多摄像机

function P=compute_constraint_distance_orthog_4param_9eq_10unk(m1,m2,m3,m4) % Copyright (C) <2007> <Francesc Moreno-Noguer, Vincent Lepetit, Pascal Fua> % % This program is free software: you can redistribute it and/or modify % it under the terms of the version 3 of the GNU General Public License % as published by the Free Software Foundation. % % This program is distributed in the hope that it will be useful, but % WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU % General Public License for more details. % You should have received a copy of the GNU General Public License % along with this program. If not, see <http://www.gnu.org/licenses/>. % % Francesc Moreno-Noguer, CVLab-EPFL, September 2007. % fmorenoguer@gmail.com, http://cvlab.epfl.ch/~fmoreno/ %redefine variables name, for compatibility with maple m1_1=m1(1); m1_2=m1(2); m1_3=m1(3); m1_4=m1(4); m1_5=m1(5); m1_6=m1(6); m1_7=m1(7); m1_8=m1(8); m1_9=m1(9); m1_10=m1(10); m1_11=m1(11); m1_12=m1(12); m2_1=m2(1); m2_2=m2(2); m2_3=m2(3); m2_4=m2(4); m2_5=m2(5); m2_6=m2(6); m2_7=m2(7); m2_8=m2(8); m2_9=m2(9); m2_10=m2(10); m2_11=m2(11); m2_12=m2(12); m3_1=m3(1); m3_2=m3(2); m3_3=m3(3); m3_4=m3(4); m3_5=m3(5); m3_6=m3(6); m3_7=m3(7); m3_8=m3(8); m3_9=m3(9); m3_10=m3(10); m3_11=m3(11); m3_12=m3(12); m4_1=m4(1); m4_2=m4(2); m4_3=m4(3); m4_4=m4(4); m4_5=m4(5); m4_6=m4(6); m4_7=m4(7); m4_8=m4(8); m4_9=m4(9); m4_10=m4(10); m4_11=m4(11); m4_12=m4(12); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% t1 = (m1_1 ^ 2); t2 = (m1_2 ^ 2); t3 = (m1_6 ^ 2); t4 = (m1_3 ^ 2); t5 = (m1_5 ^ 2); t6 = (m1_4 * m1_1); t8 = (m1_5 * m1_2); t10 = (m1_6 * m1_3); t12 = (m1_4 ^ 2); t14 = (m2_5 * m1_2); t15 = m1_3 * m2_3; t16 = (m2_6 * m1_3); t17 = m1_6 * m2_6; t18 = m1_1 * m2_1; t19 = (m1_4 * m2_1); t20 = m1_2 * m2_2; t21 = (m1_5 * m2_2); t22 = m1_5 * m2_5; t23 = (m1_6 * m2_3); t24 = m1_4 * m2_4; t25 = (m2_4 * m1_1); t26 = (-t14 + t15 - t16 + t17 + t18 - t19 + t20 - t21 + t22 - t23 + t24 - t25); t27 = (m1_5 * m3_2); t28 = m1_3 * m3_3; t29 = (m1_6 * m3_3); t30 = m1_4 * m3_4; t31 = (m3_4 * m1_1); t32 = m1_1 * m3_1; t33 = m1_5 * m3_5; t34 = m1_6 * m3_6; t35 = m1_2 * m3_2; t36 = (m1_4 * m3_1); t37 = (m3_6 * m1_3); t38 = (m3_5 * m1_2); t39 = (-t27 + t28 - t29 + t30 - t31 + t32 + t33 + t34 + t35 - t36 - t37 - t38); t40 = m1_3 * m4_3; t41 = (m1_4 * m4_1); t42 = m1_2 * m4_2; t43 = m1_6 * m4_6; t44 = (m1_5 * m4_2); t45 = (m4_6 * m1_3); t46 = m1_1 * m4_1; t47 = m1_5 * m4_5; t48 = m1_4 * m4_4; t49 = (m4_5 * m1_2); t50 = (m4_4 * m1_1); t51 = (m1_6 * m4_3); t52 = (t40 - t41 + t42 + t43 - t44 - t45 + t46 + t47 + t48 - t49 - t50 - t51); t53 = (m2_5 * m2_2); t55 = (m2_6 * m2_3); t57 = (m2_4 ^ 2); t58 = (m2_1 ^ 2); t59 = (m2_5 ^ 2); t60 = (m2_2 ^ 2); t61 = (m2_6 ^ 2); t62 = (m2_3 ^ 2); t63 = (m2_4 * m2_1); t66 = m2_4 * m3_4; t67 = m2_5 * m3_5; t68 = (m3_6 * m2_3); t69 = (m2_5 * m3_2); t70 = m2_3 * m3_3; t71 = m2_2 * m3_2; t72 = m2_6 * m3_6; t73 = (m2_6 * m3_3); t74 = (m3_5 * m2_2); t75 = (m2_4 * m3_1); t76 = (m3_4 * m2_1); t77 = m2_1 * m3_1; t78 = (t66 + t67 - t68 - t69 + t70 + t71 + t72 - t73 - t74 - t75 - t76 + t77); t79 = (m2_6 * m4_3); t80 = (m4_6 * m2_3); t81 = m2_3 * m4_3; t82 = m2_6 * m4_6; t83 = (m2_4 * m4_1); t84 = (m4_4 * m2_1); t85 = m2_1 * m4_1; t86 = m2_4 * m4_4; t87 = (m2_5 * m4_2); t88 = (m4_5 * m2_2); t89 = m2_2 * m4_2; t90 = m2_5 * m4_5; t91 = (-t79 - t80 + t81 + t82 - t83 - t84 + t85 + t86 - t87 - t88 + t89 + t90); t92 = (m3_4 * m3_1); t94 = (m3_4 ^ 2); t95 = (m3_1 ^ 2); t96 = (m3_5 ^ 2); t97 = (m3_2 ^ 2); t98 = (m3_6 ^ 2); t99 = (m3_3 ^ 2); t100 = (m3_5 * m3_2); t102 = (m3_6 * m3_3); t105 = m3_6 * m4_6; t106 = (m3_5 * m4_2); t107 = m3_3 * m4_3; t108 = (m4_5 * m3_2); t109 = m3_2 * m4_2; t110 = (m4_4 * m3_1); t111 = (m4_6 * m3_3); t112 = m3_4 * m4_4; t113 = m3_5 * m4_5; t114 = (m3_4 * m4_1); t115 = (m3_6 * m4_3); t116 = m3_1 * m4_1; t117 = (t105 - t106 + t107 - t108 + t109 - t110 - t111 + t112 + t113 - t114 - t115 + t116); t118 = (m4_3 ^ 2); t119 = (m4_4 ^ 2); t120 = (m4_2 ^ 2); t121 = (m4_5 * m4_2); t123 = (m4_6 * m4_3); t125 = (m4_1 ^ 2); t126 = (m4_6 ^ 2); t127 = (m4_5 ^ 2); t128 = (m4_4 * m4_1); t131 = (m1_7 ^ 2); t132 = (m1_8 ^ 2); t133 = (m1_9 ^ 2); t134 = (m1_8 * m1_2); t136 = (m1_9 * m1_3); t138 = (m1_7 * m1_1); t141 = m1_9 * m2_9; t142 = (m2_8 * m1_2); t143 = (m2_7 * m1_1); t144 = (m1_8 * m2_2); t145 = (m2_9 * m1_3); t146 = m1_8 * m2_8; t147 = (m1_7 * m2_1); t148 = (m1_9 * m2_3); t149 = m1_7 * m2_7; t150 = (t141 + t20 - t142 + t15 - t143 - t144 - t145 + t146 - t147 - t148 + t18 + t149); t151 = (m1_9 * m3_3); t152 = (m1_7 * m3_1); t153 = m1_7 * m3_7; t154 = (m3_9 * m1_3); t155 = m1_9 * m3_9; t156 = (m1_8 * m3_2); t157 = (m3_8 * m1_2); t158 = (m3_7 * m1_1); t159 = m1_8 * m3_8; t160 = (t28 + t32 - t151 - t152 + t153 - t154 + t155 - t156 - t157 - t158 + t35 + t159); t161 = (m4_8 * m1_2); t162 = (m1_8 * m4_2); t163 = m1_9 * m4_9; t164 = (m1_9 * m4_3); t165 = m1_8 * m4_8; t166 = (m4_7 * m1_1); t167 = (m4_9 * m1_3); t168 = m1_7 * m4_7; t169 = (m1_7 * m4_1); t170 = (-t161 - t162 + t42 + t163 - t164 + t165 - t166 + t46 - t167 + t40 + t168 - t169); t171 = (m2_9 * m2_3); t173 = (m2_8 * m2_2); t175 = (m2_8 ^ 2); t176 = (m2_9 ^ 2); t177 = (m2_7 * m2_1); t179 = (m2_7 ^ 2); t181 = m2_8 * m3_8; t182 = m2_7 * m3_7; t183 = (m2_7 * m3_1); t184 = (m3_8 * m2_2); t185 = (m2_8 * m3_2); t186 = (m3_7 * m2_1); t187 = (m3_9 * m2_3); t188 = m2_9 * m3_9; t189 = (m2_9 * m3_3); t190 = (t77 + t71 + t181 + t70 + t182 - t183 - t184 - t185 - t186 - t187 + t188 - t189); t191 = (m2_8 * m4_2); t192 = m2_7 * m4_7; t193 = (m2_7 * m4_1); t194 = (m4_7 * m2_1); t195 = (m2_9 * m4_3); t196 = m2_8 * m4_8; t197 = m2_9 * m4_9; t198 = (m4_8 * m2_2); t199 = (m4_9 * m2_3); t200 = (-t191 + t192 - t193 + t89 - t194 - t195 + t196 + t197 - t198 + t85 + t81 - t199); t201 = (m3_9 * m3_3); t203 = (m3_7 * m3_1); t205 = (m3_8 * m3_2); t207 = (m3_7 ^ 2); t208 = (m3_8 ^ 2); t209 = (m3_9 ^ 2); t211 = (m3_7 * m4_1); t212 = (m4_9 * m3_3); t213 = (m4_8 * m3_2); t214 = (m4_7 * m3_1); t215 = (m3_8 * m4_2); t216 = m3_9 * m4_9; t217 = (m3_9 * m4_3); t218 = m3_7 * m4_7; t219 = m3_8 * m4_8; t220 = (-t211 + t109 - t212 - t213 - t214 - t215 + t216 - t217 + t107 + t218 + t219 + t116); t221 = (m4_9 ^ 2); t222 = (m4_7 ^ 2); t223 = (m4_9 * m4_3); t225 = (m4_8 ^ 2); t226 = (m4_8 * m4_2); t228 = (m4_7 * m4_1); t231 = (m1_12 ^ 2); t232 = (m1_11 * m1_2); t234 = (m1_10 ^ 2); t235 = (m1_11 ^ 2); t236 = (m1_10 * m1_1); t238 = (m1_12 * m1_3); t241 = (m1_12 * m2_12); t242 = (m1_12 * m2_3); t243 = (m2_12 * m1_3); t244 = (m1_10 * m2_1); t245 = (m2_11 * m1_2); t246 = (m1_11 * m2_11); t247 = (m1_11 * m2_2); t248 = (m2_10 * m1_1); t249 = (m1_10 * m2_10); t250 = (t241 - t242 - t243 - t244 + t18 - t245 + t246 - t247 + t20 + t15 - t248 + t249); t251 = (m1_12 * m3_3); t252 = (m1_12 * m3_12); t253 = (m3_12 * m1_3); t254 = (m1_10 * m3_1); t255 = (m3_10 * m1_1); t256 = (m1_10 * m3_10); t257 = (m1_11 * m3_2); t258 = (m3_11 * m1_2); t259 = (m1_11 * m3_11); t260 = (-t251 + t28 + t252 - t253 - t254 - t255 + t35 + t256 - t257 + t32 - t258 + t259); t261 = (m4_11 * m1_2); t262 = (m1_10 * m4_1); t263 = (m1_10 * m4_10); t264 = (m1_12 * m4_12); t265 = (m1_12 * m4_3); t266 = (m4_12 * m1_3); t267 = (m1_11 * m4_2); t268 = (m1_11 * m4_11); t269 = (m4_10 * m1_1); t270 = (-t261 + t46 - t262 + t263 + t42 + t264 + t40 - t265 - t266 - t267 + t268 - t269); t271 = (m2_11 * m2_2); t273 = (m2_12 * m2_3); t275 = (m2_11 ^ 2); t276 = (m2_12 ^ 2); t277 = (m2_10 ^ 2); t278 = (m2_10 * m2_1); t281 = (m3_10 * m2_1); t282 = (m3_12 * m2_3); t283 = (m2_11 * m3_2); t284 = (m2_11 * m3_11); t285 = (m2_10 * m3