相机投影矩阵计算

代码如下：

% A=[3 1 -1;1 2 4;-1 4 5];
% B=[3.6;2.1;-1.4];
% x1=A\B
% x2=inv(A)*B
% x3=linsolve(A,B)
% [x1 x2 x3]=solve('3*x1+x2-x3=3.6','x1+2*x2+4*x3=2.1','-x1+4*x2+5*x3=-1.4')
% x4=pinv(A)*B

%P1:
Xw1 = 205.00
Yw1 = -440.54
Zw1 = -447.37

Xf1 = 186
Yf1 = 251

Xf11 = 156
Yf11 = 264

%P2:
Xw2 = -44.54
Yw2 = -451.89
Zw2 = -449.94

Xf2 = 1134
Yf2 = 216

Xf22 = 1112
Yf22 = 192

%P3:
Xw3 = -49.82
Yw3 = -318.58
Zw3 = -449.15

Xf3 = 1154
Yf3 = 708

Xf33 = 1177
Yf33 = 694

%P4:
Xw4 = 198.94
Yw4 = -310.24
Zw4 = -447.11

Xf4 = 213
Yf4 = 768

Xf44 = 189
Yf44 = 796

%P5:
Xw5 = 202.16
Yw5 = -375.33
Zw5 = -492.73

Xf5 = 232
Yf5 = 503

Xf55 = 209
Yf55 = 538

%P6:
Xw6 = -47.20
Yw6 = -384.22
Zw6 = -495.11

Xf6 = 1086
Yf6 = 463

Xf66 = 108