>> R1=rod2tr(omc_1)

R1 =
-0.0256 0.9374 -0.3473

0.9774 0.0964 0.1880

0.2097 -0.3346 -0.9187

0 1.0000

>>
>> R1=tr2rot(R1)
R1 =
-0.0256 0.9374 -0.3473
0.9774 0.0964 0.1880
0.2097 -0.3346 -0.9187
>>
>> t1=Tc_1
t1 =
-61.9000
-103.3188
430.8869
>>
>> k=[fc(1,1) 0 cc(1,1);0 fc(2,1) cc(2,1);0 0 1]
k=
724.2765

0 300.8487

0 725.0959 239.3692
0

0 1.0000

>>
>> P=k*[R1 t1]

P=
1.0e+004 *
0.0045 0.0578 -0.0528 8.4799
0.0759 -0.0010 -0.0084 2.8225
0.0000 -0.0000 -0.0001 0.0431
>>
>> M1=[0 0 0 1];
>> M2=[0 120 0 1];
>> M3=[120 120 0 1];
>> M4=[120 0 0 1];
>> M5=[0 0 120 1];
>> M6=[0 120 120 1];
>> M7=[120 120 120 1];
>> M8=[120 0 120 1];
>> m1=P*M1';
>> m1=m1/m1(3,1);
>> m2=P*M2';
>> m2=m2/m2(3,1);
>> m3=P*M3';
>> m3=m3/m3(3,1);
>> m4=P*M4';
>> m4=m4/m4(3,1);
>> m5=P*M5';
>> m5=m5/m5(3,1);
>> m6=P*M6';
>> m6=m6/m6(3,1);

>> m7=P*M7';
>> m7=m7/m7(3,1);
>> m8=P*M8';
>> m8=m8/m8(3,1);
>> imread('prueIzq01.jpg');
>> I=imread('prueIzq01.jpg');
>> imsshow(I),hold on;
??? Undefined function or method 'imsshow' for input arguments of type 'uint8'.

>> Imsshow(I),hold on;

??? Undefined function or method 'Imsshow' for input arguments of type 'uint8'.

>> Imshow(I),hold on;

Warning: Could not find an exact (case-sensitive) match for 'Imshow'.
D:\Programas\matlab\toolbox\images\imuitools\imshow.m is a case-insensitive match and will be
used instead.
You can improve the performance of your code by using exact
name matches and we therefore recommend that you update your
usage accordingly. Alternatively, you can disable this warning using
warning('off','MATLAB:dispatcher:InexactCaseMatch').
This warning will become an error in future releases.
>> plot(m1(1,1), m1(2,1), 'cs')
>> plot(m2(1,1), m2(2,1), 'cs')
>> plot(m3(1,1), m3(2,1), 'cs')
>> plot(m4(1,1), m4(2,1), 'cs')
>> plot(m5(1,1), m5(2,1), 'cs')

>> plot(m6(1,1), m6(2,1), 'cs')

>> plot(m7(1,1), m7(2,1), 'cs')
>> plot(m8(1,1), m8(2,1), 'cs')
>>
>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1) m5(1,1) m6(1,1) m7(1,1) m8(1,1)][m1(2,1) m2(2,1)
m3(2,1) m4(2,1) m5(2,1) m6(2,1) m7(2,1) m8(2,1)])
??? line([m1(1,1) m2(1,1) m3(1,1) m4(1,1) m5(1,1) m6(1,1) m7(1,1) m8(1,1)][m1(2,1) m2(2,1)
m3(2,1) m4(2,1) m5(2,1) m6(2,1) m7(2,1) m8(2,1)])
|
Error: Unbalanced or unexpected parenthesis or bracket.

>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1)][m1(2,1) m2(2,1) m3(2,1) m4(2,1)])

??? line([m1(1,1) m2(1,1) m3(1,1) m4(1,1)][m1(2,1) m2(2,1) m3(2,1) m4(2,1)])
|
Error: Unbalanced or unexpected parenthesis or bracket.

>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1)][m1(2,1) m2(2,1) m3(2,1) m4(2,1) m1(2,1)])

??? line([m1(1,1) m2(1,1) m3(1,1) m4(1,1)][m1(2,1) m2(2,1) m3(2,1) m4(2,1) m1(2,1)])
|
Error: Unbalanced or unexpected parenthesis or bracket.

>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1)],[m1(2,1) m2(2,1) m3(2,1) m4(2,1) m1(2,1)])

??? Error using ==> line
Vectors must be the same lengths.

>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1) m1(2,1)],[m1(2,1) m2(2,1) m3(2,1) m4(2,1) m1(2,1)])

>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1) m1(1,1)],[m1(2,1) m2(2,1) m3(2,1) m4(2,1) m1(2,1)])
>> plot(m1(1,1), m1(2,1), 'cs')
>> plot(m2(1,1), m2(2,1), 'cs')
>> plot(m3(1,1), m3(2,1), 'cs')
>> plot(m4(1,1), m4(2,1), 'cs')
>> plot(m5(1,1), m5(2,1), 'cs')
>> plot(m6(1,1), m6(2,1), 'cs')
>> plot(m7(1,1), m7(2,1), 'cs')
>> plot(m8(1,1), m8(2,1), 'cs')
>> imread('prueIzq01.jpg');
>> imread('prueIzq01.jpg');
>> M1=[0 0 0 1];
>> M2=[0 120 0 1];
>> M3=[120 120 0 1];
>> M4=[120 0 0 1];
>> M5=[0 0 120 1];
>> M6=[0 120 120 1];
>> M7=[120 120 120 1];
>> M8=[120 0 120 1];
>> m1=P*M1';
>> m1=m1/m1(3,1);
>> m2=P*M2';
>> m2=m2/m2(3,1);
>> m3=P*M3';
>> m3=m3/m3(3,1);
>> m4=P*M4';

>> m4=m4/m4(3,1);
>> m5=P*M5';
>> m5=m5/m5(3,1);
>> m6=P*M6';
>> m6=m6/m6(3,1);
>> m7=P*M7';
>> m7=m7/m7(3,1);
>> m8=P*M8';
>> m8=m8/m8(3,1);
>> imread('prueIzq01.jpg');
>> I=imread('prueIzq01.jpg');
>> imsshow(I),hold on;
??? Undefined function or method 'imsshow' for input arguments of type 'uint8'.

>> Imshow(I),hold on;

>> plot(m1(1,1), m1(2,1), 'cs')
>> plot(m2(1,1), m2(2,1), 'cs')
>> plot(m3(1,1), m3(2,1), 'cs')
>> plot(m4(1,1), m4(2,1), 'cs')
>> plot(m5(1,1), m5(2,1), 'cs')
>> plot(m6(1,1), m6(2,1), 'cs')
>> plot(m7(1,1), m7(2,1), 'cs')
>> plot(m8(1,1), m8(2,1), 'cs')
>> line([m1(1,1) m2(1,1) m3(1,1) m4(1,1) m1(1,1)],[m1(2,1) m2(2,1) m3(2,1) m4(2,1) m1(2,1)])
>> line([m5(1,1) m6(1,1) m7(1,1) m8(1,1) m5(1,1)],[m5(2,1) m6(2,1) m7(2,1) m8(2,1) m5(2,1)])
>> line([m1(1,1) m5(1,1)],[m1(2,1) m5(2,1)])

>> line([m2(1,1) m6(1,1)],[m2(2,1) m6(2,1)])

>> line([m3(1,1) m7(1,1)],[m3(2,1) m7(2,1)])
>> line([m4(1,1) m8(1,1)],[m4(2,1) m8(2,1)])
>>