经典手眼标定算法matlab代码

function [xd xp] = addDistortion（xfccckc）    
    
    m = length（x）;
    for j=1:m %length（x）
        %Radial stuff
        r2 = x（1j）^2+x（2j）^2;
        %Tangential stuff
        dx = [  2*kc（3）*x（1j）*x（2j）+kc（4）*（r2+2*x（1j）^2）;...
                kc（3）*（r2+2*x（2j）^2）+2*kc（4）*x（1j）*x（2j）];
        %Putting all together
        xd（:j） = （1+kc（1）*r2+kc（2）*r2^2+kc（5）*r2^3）*x（1:2j）+dx+[cc（1）;cc（2）];
        xp（:j） = x（:j）+[cc（1）;cc（2）;1];
    end

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2008-03-12 15:28  calib_toolbox_addon
     文件         805  2006-10-25 08:14  calib_toolbox_addoncrossprod.m
     文件        4193  2008-03-12 14:38  calib_toolbox_addongetNextPoint.m
     文件         217  2006-10-27 08:19  calib_toolbox_addonaverageTransformation.m
     文件         402  2006-10-27 08:19  calib_toolbox_addonaverageRotation.m
     文件         638  2008-03-12 14:38  calib_toolbox_addongetClosestPointToLine.m
     文件          89  2006-10-27 08:24  calib_toolbox_addondistToLine.m
     文件         154  2006-10-27 08:24  calib_toolbox_addonangle2Vect.m
     文件         409  2006-10-27 08:24  calib_toolbox_addongetClosestNeighbours.m
     文件        2074  2008-03-12 14:38  calib_toolbox_addongetNextPointstart.m
     文件         716  2006-10-30 09:39  calib_toolbox_addonackprojectDistorted.m
     文件         749  2006-10-30 09:40  calib_toolbox_addon
ormalizeHomogenousCoordinates.m
     文件         476  2006-10-30 09:40  calib_toolbox_addonaddDistortion.m
     文件        1574  2006-10-30 09:42  calib_toolbox_addondraw2DPoints.m
     目录           0  2006-10-09 09:14  calib_toolbox_addonexample1
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1000.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1001.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1002.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1003.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1004.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1005.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addonexample1006.bmp
     目录           0  2006-10-09 08:29  calib_toolbox_addonexample2
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2001.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2002.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2003.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2004.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2005.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2006.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2007.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addonexample2008.ppm
............此处省略27个文件信息