求matlab高手帮忙改错，汽车转向的阿克曼原理的程序

clear all

k=600

m=65

x(2)=110

x(1)=2.0944*pi/180%%x(1)要计算它的三角函数值，转化为弧度

I=1:360%%I的取值应该是角度歼差袭吧，那把范围扩大

h=75

I1=I*pi/180%%i换成别的变量，庆戚避免和虚数的i混淆

%%

r=atan(m/(2*h))

V=k-m/2-x(2)*cos(x(1))

C=h-x(2)*sin(x(1))

l2=sqrt(V^2+C^2)

%%

D=I1-x(1)%%换i为I1

B=sqrt(h^2+m^2)

M=x(2)^2+(k^2)/4+B^2-l2^2

E=k*B-(2*x(2)*B)*cos(D)

F=((-2)*x(2)*B)*sin(D)

X=(M-(x(2)*k)*cos(D))./sqrt(E.^2+F.^2)

Y=atan(F./E)

a=r-asin(X)+Y

P=r+a

H=x(2)*k-(2*x(2)*B).*sin(P)

G=(-2)*x(2)*B.*cos(P)

T=(M-(k*B)*sin(P))./sqrt(H.^2+G.^2)

Z=atan(H./G)

J1=-x(1)-asin(T)+Z%%同样把j换成别的符号表氏兄示

J=J1*180/pi

beta=acot(cot(I1)-600/1500)

betae=beta*180/pi

plot(I,J,'r-',I,betae,'g',I,I,'b')%%画到一幅图上

grid on

%%%%%%%%%%%%%%%%%%%%%%结果如图

您好，Aspect ratio optimized (est_aspect_ratio = 1) ->both components of fc are estimated (DEFAULT).

Principal point not optimized (center_optim=0). Note: to set it in the middle of the image, clear variable cc, and run calibration again.

Skew not optimized (est_alpha=0) - (DEFAULT)

Distortion not fully estimated (defined by the variable est_dist):

Sixth order distortion not estimated (est_dist(5)=0) - (DEFAULT) .

Main calibration optimization procedure - Number of images: 4

Gradient descent iterations: 1...2...

Warning: View #1 ill-conditioned. This image is now set inactive. (note: to disactivate this option, set check_cond=0)

Warning: View #2 ill-conditioned. This image is now set inactive. (note: to disactivate this option, set check_cond=0)

Warning: View #3 ill-conditioned. This image is now set inactive. (note: to disactivate this option, set check_cond=0)

Warning: View #4 ill-conditioned. This image is now set inactive. (note: to disactivate this option, set check_cond=0)

3...Intrinsic parameters at frame 1 do not exist

New optimization including the images that have been deactivated during the previous optimization.

标州禅定完一次后退出再试试吧橘迹嫌，我也没碰到这种情况。圆手另外，手机是自动变焦的，不行的，你拿相机拍吧。

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