runtime error: Matrix is singular to working precision. results should be in numbers but coming as NaN

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Sat m
Sat m 2013-3-18
i have generated an equation. it is not giving any compiling error. when i run it, it should be giving results in number. instead it is giving results in NaN. please let me know how to solve this problem
this is the code
vy1=vy(1);
disp(vy1);
vy2=vy(2);
disp(vy2);
vy3=vy(3);
disp(vy3);
vy4=vy(4);
disp(vy4);
vy5=vy(5);
disp(vy5);
vy6=vy(6);
disp(vy6);
vy7=vy(7);
disp(vy7);
vy8=vy(8);
disp(vy8);
%assigning values of vy1...vy8 to actual extrinsic and intrinsic parameters
ry21 = vy1;
ry22 = vy2;
ry23 = vy3;
Tyy = vy4;
ary11 = vy5;
ary12 = vy6;
ary13 = vy7;
aTxy = vy8;
%generating the gamma function from the simulated data
gy = sqrt(vy1^2+vy2^2+vy3^2);
disp(gy);
%generating aspect ratio from the simulated data
ay = (sqrt(vy5^2+vy6^2+vy7^2)/gy);
disp(ay);
%generating elements of rotation vector from the simulated data
ry11 = vy5/ay;
ry12 = vy6/ay;
ry13 = vy7/ay;
Txy = vy8/ay;
R1y = [ry11,ry12,ry13];
R2y = [ry21,ry22,ry23];
R3y = cross(R1y,R2y);%generating R3 as R3 is the cross product of R1 amd R2 or R3=R1xR2
disp(R3y);
ry31 = R3y(1);
ry32 = R3y(2);
ry33 = R3y(3);
%generating 1st extrinsic parameter R or the rotation matrix from the
%simulated data
Ry = [R1y;R2y;R3y];
disp(Ry);
%now we need to find another extrinsic parameter T from the simulated data
%x1 = fx*(r11*X1+r12*Y1+r13*Z1+Tx)/(r31*X1+r32*Y1+r33*Z1+Tz);
%x1*Tz + fx*(r11*X1+r12*Y1+r13*Z1+Tx) = -x1(r31*X1+r32*Y1+r33*Z1)
% and
%x2 = fx*(r11*X2+r12*Y2+r13*Z2+Tx)/(r31*X2+r32*Y2+r33*Z2+Tz);
%here x22 = x2
%x2*Tz + fx*(r11*X2+r12*Y2+r13*Z2+Tx) = -x2(r31*X2+r32*Y2+r33*Z2)
%in this case
for h=1:32
A1y = [xhk,(ry11*Xhk+ry12*Yhk+ry13*Zhk+Txy);];
disp(A1y);
end
for h=1:32
B1y = (-xhk*(ry31*Xhk+ry32*Yhk+ry33*Zhk));
disp(B1y);
end
%A1[Tz,fx] = B1;
%[Tz,fx]=(A1t*A1)-1*(A1t.B1)
J = transpose(A1y);
Py = J*A1y;
Qy = J*B1y;
Wy = Py\Qy;
disp(Wy);
break
Tzy = Wy(1);
disp(Tzy);%we can get the 3rd parameter of extrinsic parameter Ty from the simulated data
fxy = Wy(2);%effective focal length at x direction
disp(fxy);
fyy = ay/fxy;%effective focal length at x direction
disp(fyy);
fY = sqrt(fxy^2+fyy^2);%intrinsic parameter f from the simulated data
disp(fY);%here we got the focal length calulated from the simulated data
Ty = [Txy,Tyy,Tzy];%extrinsic parameter T from the simulated data
disp(Ty);
the error is showing at this line
Wy = Py\Qy;

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采纳的回答

Walter Roberson
Walter Roberson 2013-3-18
Your code
for h=1:32
A1y = [xhk,(ry11*Xhk+ry12*Yhk+ry13*Zhk+Txy);];
disp(A1y);
end
overwrites A1y completely on each iteration through the loop, but it does so with values that are independent of "h".
If you are trying to use x1k, Y1k and so on, then you cannot do that using that kind of code.
http://matlab.wikia.com/wiki/FAQ#How_can_I_create_variables_A1.2C_A2.2C....2CA10_in_a_loop.3F
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Walter Roberson
Walter Roberson 2013-3-18
Xh1 = xvals(1:32);
Yh1 = yvals(1:32);
Zh1 = zvals(1:32);
xh1 = fa * Xh1 ./ Zh1; %but what if the z is 0?
yh1 = fa * Yh1 ./ Zh1; %but what if the z is 0?
You did not show how you created xhk

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