具体算法解析请参阅References博客介绍。适用于绝大部分应用场景，支持畸变无序角点，非均匀分布的角点排序。
Step1, 人工制造6*10个投影变换点，并打乱排列顺序
pattern = [6,10];% 标定点模式，m*n个点 [X,Y] = meshgrid(1:pattern(2),1:pattern(1)); A = [-2.7379 0.7426 0 0.2929 -0.7500 0 0.0100 -0.0500 1.0000];% 手工设定的透视变换矩阵 coordates = [X(:),Y(:),ones(length(X(:)),1)]'; new_coords = A*coordates; new_coords = new_coords./new_coords(3,:); % 制造打乱顺序的点集，数字表示坐标唯一编号 new_coords = new_coords(1:2,:)'; n = size(new_coords,1); randidxs = randperm(n); unorder_pts = new_coords(randidxs,:); % 无序点集 figure('Units', 'Normalized', 'OuterPosition', [0, 0.04, 1, 0.96]); hold on; plot(unorder_pts(:,1),unorder_pts(:,2),'r.','MarkerSize',20); text(unorder_pts(:,1),unorder_pts(:,2),string(1:n)); grid on title('unordered points')
Step2,算法排序
%% 默认从"下到上(y递增)，从左到右(x递增)"排序 orderedPts = CalibSort2(unorder_pts,pattern);Step3, 绘制排序好后的点
figure('Units', 'Normalized', 'OuterPosition', [0, 0.04, 1, 0.96]); hold on; plot(orderedPts(:,1),orderedPts(:,2),'b.-',MarkerSize=20) text(orderedPts(:,1),orderedPts(:,2),string(1:prod(pattern))) grid title('ordered points') 
上述排序好的蓝色点默认是"x递增,y递增"排序的，即"从左到右，从下到上"的排序，如果想要得到”从左到右，从上到下“的排序，仅对输出的第2个参数index操作即可，尽量不要对源代码函数"CalibSort2.m"内部实现进行修改。
比如仍然对上述点排序，要求"从左到右，从上到下":
[~,index] = CalibSort2(unorder_pts,pattern);% 只要对输出的第二个参数index操作即可 %% 从"上到下(y减小)，从左到右(x增大)" index_up2down = reshape(index,[pattern(2),pattern(1)]); % 内存连续 index_up2down = fliplr(index_up2down); orderedPts = unorder_pts(index_up2down(:),:); %% 绘图 figure('Units', 'Normalized', 'OuterPosition', [0, 0.04, 1, 0.96]); hold on; plot(orderedPts(:,1),orderedPts(:,2),'b.-',MarkerSize=20) text(orderedPts(:,1),orderedPts(:,2),string(1:prod(pattern))) grid title('ordered points') 
对实际有畸变的图像无序格点排序：
imds = imageDatastore("data/gopro*.jpg"); load data/gridPointsData.mat pattern = [6,9]; % 6 rows,9 cols grid points randIdxs = randperm(prod(pattern)); for idx = 1:length(imds.Files) img = readimage(imds,idx); figure('Units', 'Normalized', 'OuterPosition', [0, 0.04, 1, 0.96]); tiledlayout(1,2,"TileSpacing","none","Padding","tight") nexttile; imshow(img); hold on; unorder_pts = [imagePoints(randIdxs,1,idx),imagePoints(randIdxs,2,idx)]; plot(unorder_pts(:,1),unorder_pts(:,2),'r.',MarkerSize=20); text(unorder_pts(:,1),unorder_pts(:,2),string(1:prod(pattern))); title("unordered points") % 格点排序 orderedPts = CalibSort2(unorder_pts,pattern); nexttile; imshow(img); hold on; plot(orderedPts(:,1),orderedPts(:,2),'b.-',MarkerSize=20); text(orderedPts(:,1),orderedPts(:,2),string(1:prod(pattern))); title("ordered points") end
对April Grid网格角点排序：
aprilGridImg1 = imread("data/leftAprilGrid.jpg"); aprilGridImg2 = imread("data/rightAprilGrid.jpg"); imgs = {aprilGridImg1,aprilGridImg2}; load data/AprilGridPointsData.mat pattern = [12,12]; % 12 rows,12 cols grid points randIdxs = randperm(prod(pattern)); for idx = 1:length(imgs) img = imgs{idx}; figure('Units', 'Normalized', 'OuterPosition', [0, 0.04, 1, 0.96]); tiledlayout(1,2,"TileSpacing","none","Padding","tight") nexttile; imshow(img); hold on; unorder_pts = [imagePoints(randIdxs,1,idx),imagePoints(randIdxs,2,idx)]; plot(unorder_pts(:,1),unorder_pts(:,2),'r.',MarkerSize=20); text(unorder_pts(:,1),unorder_pts(:,2),string(1:prod(pattern))); title("unordered points") % 格点排序 orderedPts = CalibSort2(unorder_pts,pattern); nexttile; imshow(img); hold on; plot(orderedPts(:,1),orderedPts(:,2),'b.-',MarkerSize=20); text(orderedPts(:,1),orderedPts(:,2),string(1:prod(pattern))); title("ordered points") end
