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

% reprerror   Estimate reprojection error
%
% [cam] = reprerror(cam,Pe,Xe,FRAMES,inliers);
% 
% $Id: reprerror.m,v 2.0 2003/06/19 12:06:50 svoboda Exp $

function [cam] = reprerror(cam,Pe,Xe,FRAMES,inliers);

CAMS = size(Pe,1)/3;

for i=1:CAMS,
        xe              = Pe(((3*i)-2):(3*i),:)*Xe;
        cam(i).xe       = xe./repmat(xe(3,:),3,1);
        % these points were the input into Martinec and Pajdla filling
        mask.rec = zeros(1,FRAMES);     % mask of points that survived validation so far
        mask.vis = zeros(1,FRAMES); % maks of visible points
        mask.rec(inliers.idx)  = 1;
        mask.vis(cam(i).idlin) = 1;
        mask.both                          = mask.vis & mask.rec; % which points are visible and reconstructed for a particular camera
        unmask.rec                         = cumsum(mask.rec);
        unmask.vis                         = cumsum(mask.vis);
        cam(i).recandvis = unmask.rec(~xor(mask.rec,mask.both) & mask.rec);
        cam(i).visandrec = unmask.vis(~xor(mask.rec,mask.both) & mask.rec);
        cam(i).err2d     = sqrt(sum([cam(i).xe(1:2,cam(i).recandvis) - cam(i).xgt(1:2,cam(i).visandrec)].^2));
        cam(i).mean2Derr = mean(cam(i).err2d);
        cam(i).std2Derr  = std(cam(i).err2d);
end

return;