matlab 计算棋盘格旋转平移矩阵

% 利用matlab计算屏幕偏转

I = imread('ZWIN_.jpg');

images = imageDatastore('F:\PictureFORCalibration\P1');

[imagePoints,boardSize] = detectCheckerboardPoints(images.Files);

squareSize = 25;

worldPoints = generateCheckerboardPoints(boardSize,squareSize);

imageSize = [size(I,1),size(I,2)];

cameraParams = estimateCameraParameters(imagePoints,worldPoints, ...

'ImageSize',imageSize,'EstimateTangentialDistortion' ,true,...

'NumRadialDistortionCoefficients',3,'EstimateSkew',true);

imOrig = I;

figure; imshow(imOrig);

title('Input Image');

im = undistortImage(imOrig,cameraParams);

[imagePoints,boardSize] = detectCheckerboardPoints(im);

[rotationMatrix,translationVector] = extrinsics(...

    imagePoints,worldPoints,cameraParams);

figure

showExtrinsics(cameraParams);

disp('旋转矩阵')

disp(rotationMatrix);

disp('平移矩阵')

disp(translationVector);