1 | % reprerror Estimate reprojection error |
---|
2 | % |
---|
3 | % [cam] = reprerror(cam,Pe,Xe,FRAMES,inliers); |
---|
4 | % |
---|
5 | % $Id: reprerror.m,v 2.0 2003/06/19 12:06:50 svoboda Exp $ |
---|
6 | |
---|
7 | function [cam] = reprerror(cam,Pe,Xe,FRAMES,inliers); |
---|
8 | |
---|
9 | CAMS = size(Pe,1)/3; |
---|
10 | |
---|
11 | for i=1:CAMS, |
---|
12 | xe = Pe(((3*i)-2):(3*i),:)*Xe; |
---|
13 | cam(i).xe = xe./repmat(xe(3,:),3,1); |
---|
14 | % these points were the input into Martinec and Pajdla filling |
---|
15 | mask.rec = zeros(1,FRAMES); % mask of points that survived validation so far |
---|
16 | mask.vis = zeros(1,FRAMES); % maks of visible points |
---|
17 | mask.rec(inliers.idx) = 1; |
---|
18 | mask.vis(cam(i).idlin) = 1; |
---|
19 | mask.both = mask.vis & mask.rec; % which points are visible and reconstructed for a particular camera |
---|
20 | unmask.rec = cumsum(mask.rec); |
---|
21 | unmask.vis = cumsum(mask.vis); |
---|
22 | cam(i).recandvis = unmask.rec(~xor(mask.rec,mask.both) & mask.rec); |
---|
23 | cam(i).visandrec = unmask.vis(~xor(mask.rec,mask.both) & mask.rec); |
---|
24 | cam(i).err2d = sqrt(sum([cam(i).xe(1:2,cam(i).recandvis) - cam(i).xgt(1:2,cam(i).visandrec)].^2)); |
---|
25 | cam(i).mean2Derr = mean(cam(i).err2d); |
---|
26 | cam(i).std2Derr = std(cam(i).err2d); |
---|
27 | end |
---|
28 | |
---|
29 | return; |
---|