source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/BlueCCal/MultiCamSelfCal/CoreFunctions/findoutl.m @ 37

% find outliers in cameras
%
% [outliers, inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL);
%
% $Id: findoutl.m,v 2.1 2005/05/20 11:58:23 svoboda Exp $

function [outliers, inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL);

CAMS = size(cam,2);

idxoutMat = zeros(size(inliers.IdMat));
for i=1:CAMS,
        if (cam(i).std2Derr > cam(i).mean2Derr) | (cam(i).mean2Derr > INL_TOL)
                reprerrs = cam(i).err2d - cam(i).mean2Derr;
                idxout   = find((reprerrs > 3*cam(i).std2Derr) & reprerrs > INL_TOL);
        else
                idxout = [];
        end
        idxoutMat(i,cam(i).idlin(cam(i).visandrec(idxout))) = 1;
end
inliers.IdMat(:,sum(idxoutMat)>0) = 0;  % zero all columns with at least one outlier
inliers.idx = find(sum(inliers.IdMat)>=size(inliers.IdMat,1)-NUM_CAMS_FILL);
outliers        = sum(sum(idxoutMat)>0);

return;