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[37] | 1 | function errs = Fsampson(F,u); |
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| 2 | % FSAMPSON ... first order geometrical error (Sampson Distance) |
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| 3 | % errs = Fsampson(F,u); |
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| 4 | % F ... 3x3 Fundamental matrix |
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| 5 | % u ... 6xN point pairs homogenous |
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| 6 | % |
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| 7 | % errs ... 1xN error for each point pair |
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| 8 | % |
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| 9 | % $Id: Fsampson.m,v 1.1 2005/05/23 16:15:59 svoboda Exp $ |
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| 10 | |
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| 11 | N = size(u,2); |
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| 12 | |
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| 13 | u1 = u(1:3,:); |
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| 14 | u2 = u(4:6,:); |
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| 15 | |
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| 16 | errs = zeros(1,N); |
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| 17 | for i=1:N |
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| 18 | Fu1 = F*u1(:,i); |
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| 19 | Fu2 = F'*u1(:,i); |
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| 20 | errs(i) = (u2(:,i)'*F*u1(:,i))^2 / (sum([Fu1(1:2)'.^2,Fu2(1:2)'.^2])); |
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| 21 | end |
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