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1 | % mfFDs first order geometric error (Sampson distance) |
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2 | % m-version of the original c-code (mex) which were |
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3 | % causing some problems |
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4 | |
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5 | % $Author: svoboda $ |
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6 | % $Revision: 2.2 $ |
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7 | % $Id: mfFDs.m,v 2.2 2004/05/04 16:09:35 svoboda Exp $ |
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8 | % $State: Exp $ |
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9 | |
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10 | function err = mfFDs(F,u); |
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11 | |
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12 | % disp('m-version of fFDs') |
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13 | |
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14 | Fu1 = F*u(4:6,:); |
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15 | Fu2 = (F'*u(1:3,:)).^2; |
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16 | Fu1pow = Fu1.^2; |
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17 | |
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18 | denom = Fu1pow(1,:)+Fu1pow(2,:)+Fu2(1,:)+Fu2(2,:); |
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19 | |
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20 | errvec = zeros(1,size(u,2)); |
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21 | for i=1:size(u,2), |
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22 | xFx = u(1:3,i)'*Fu1(:,i); |
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23 | errvec(i) = xFx^2/denom(i); |
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24 | end |
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25 | |
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26 | err = errvec; |
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27 | return |
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28 | |
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