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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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