p4p-problem-matlab-code

代码说明：

  在P4P问题中,当空间4个点共面时,不仅摄像机坐标系与物体坐标系之间 的旋转矩阵R和平移向量t可以线性求解,而且可以同时确定摄像机的有效焦距f和像素比例，该程序设计模拟已知相机矩阵M情况下由已知三维空间点和图像坐标情况求解相机外参数矩阵(When space four points coplanar P4P problem, not only between the camera coordinate system and the object coordinate system rotation matrix R and translation vector t Can be solved linearly, and can determine the camera s effective focal length f and pixel ratio, the program is designed to simulate a known camera matrix M Camera outside the parameters matrix case solved by the known three-dimensional space points and image coordinates)

文件列表：

GetRigidTransform2.m,1203,2008-07-22
P4Pf.m,3945,2008-07-23
p4pfcode.m,7889,2011-06-04
p4pfmex.c,24578,2008-07-23
p4pftestapp.m,2715,2011-06-04
P4Pf_m.m,3308,2011-06-04