source:
proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/BlueCCal/MultiCamSelfCal/Ransac/FDs.m
Last change on this file was 37, checked in by , 14 years ago | |
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File size: 353 bytes |
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1 | %FDs error trem for fundamentel m. - squares of Sampson's distances |
2 | %function Ds = FDs(F,u) |
3 | %where u are corespondences and F is fundamental matrix |
4 | |
5 | function Ds = FDs(F,u) |
6 | rx1 = (F(:,1)' * u(1:3,:)).^2; |
7 | ry1 = (F(:,2)' * u(1:3,:)).^2; |
8 | rx2 = (F(1,:) * u(4:6,:)).^2; |
9 | ry2 = (F(2,:) * u(4:6,:)).^2; |
10 | r = Fr(F,u); |
11 | Ds = r ./ (rx1 + ry1 + rx2 + ry2); |
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