clc;clear all
calib=input('enter calib information');
meas=input('enter measurment coordinate');
m=size(calib,2)/2
l=(calib')
for k=1:2:2m
a(k,1)=meas(1,k);
a(k,2)=meas(1,k+1);
a(k,5)=1;
a(k+1,3)=meas(1,k);
a(k+1,4)=meas(1,k+1);
a(k+1,6)=1;
end
XCAP=inv((a')*a)*((a')*(l));
R=l-(a*XCAP);
r=R*1000
clc
clear
calib=input('enter calib matrix')
meas=input('enter meas matrix')
n=size(calib,2)/2
l=calib'
syms a b cx cy
for k=1:2:2*n
x=a*meas(1,k)+b*meas(1,k+1)+cx
y=-b*meas(1,k)+a*meas(1,k+1)+cy
A(k,:)=jacobian(x,[a b cx cy])
A(k+1,:)=jacobian(y,[a b cx cy])
end
A=eval(A)
xcap=inv(A'*A)*(A'*l)
r=l-(A*xcap)