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1 | % find outliers in cameras |
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2 | % |
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3 | % [outliers, inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL); |
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4 | % |
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5 | % $Id: findoutl.m,v 2.1 2005/05/20 11:58:23 svoboda Exp $ |
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6 | |
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7 | function [outliers, inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL); |
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8 | |
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9 | CAMS = size(cam,2); |
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10 | |
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11 | idxoutMat = zeros(size(inliers.IdMat)); |
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12 | for i=1:CAMS, |
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13 | if (cam(i).std2Derr > cam(i).mean2Derr) | (cam(i).mean2Derr > INL_TOL) |
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14 | reprerrs = cam(i).err2d - cam(i).mean2Derr; |
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15 | idxout = find((reprerrs > 3*cam(i).std2Derr) & reprerrs > INL_TOL); |
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16 | else |
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17 | idxout = []; |
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18 | end |
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19 | idxoutMat(i,cam(i).idlin(cam(i).visandrec(idxout))) = 1; |
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20 | end |
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21 | inliers.IdMat(:,sum(idxoutMat)>0) = 0; % zero all columns with at least one outlier |
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22 | inliers.idx = find(sum(inliers.IdMat)>=size(inliers.IdMat,1)-NUM_CAMS_FILL); |
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23 | outliers = sum(sum(idxoutMat)>0); |
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24 | |
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25 | return; |
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26 | |
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