[37] | 1 |
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| 2 | % By Philip Torr 2002
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| 3 | % copyright Microsoft Corp.
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| 4 |
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| 5 | %this function corrects all the points in an optimal (first order) manner so that they lie on the manifold
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| 6 | %getting the signs right is a bit tricky but basically the 1st order correction is
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| 7 | % x = x - (grad r) * (r / ( norm(grad r)^2 )
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| 8 |
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| 9 | function [corrected_matches,e] = torr_correctx4F(f, nx1,ny1,nx2,ny2, no_matches, m3)
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| 10 |
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| 11 |
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| 12 | %disp('estimating squared errors on f')
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| 13 | f = f /norm(f);
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| 14 |
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| 15 | r = f(1) .* nx1(:).* nx2(:) + f(2).* ny1(:).* nx2(:) + f(3) .* m3.* nx2(:);
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| 16 | r = r + f(4) .* nx1(:).* ny2(:) + f(5) .* ny1(:).* ny2(:)+ f(6) .* m3.* ny2(:);
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| 17 | r = r + f(7) .* nx1(:).* m3+ f(8) .* ny1(:).* m3+ f(9) .* m3.* m3;
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| 18 | r2 = r.^2;
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| 19 |
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| 20 | fdx1 = f(1) .* nx2(:) + f(4) .* ny2(:) + f(7) .* m3;
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| 21 | fdx2 = f(1) .* nx1(:) + f(2).* ny1(:) + f(3) .* m3;
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| 22 | fdy1 = f(2).* nx2(:) + f(5) .* ny2(:)+ f(8) .* m3;
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| 23 | fdy2 = f(4) .* nx1(:) + f(5) .* ny1(:)+ f(6) .* m3;
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| 24 |
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| 25 | g = (fdx1 .* fdx1 +fdx2 .* fdx2 +fdy1 .* fdy1 +fdy2 .* fdy2);
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| 26 |
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| 27 |
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| 28 |
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| 29 | e = r2./g;
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| 30 |
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| 31 | g = sqrt(g);
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| 32 | e = -r./g;
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| 33 | %
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| 34 | corrected_matches(:,1) = nx1(:) + e(:) .* (fdx1(:) ./ g(:));
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| 35 | corrected_matches(:,2) = ny1(:) + e(:) .* (fdy1(:) ./ g(:));
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| 36 | corrected_matches(:,3) = nx2(:) + e(:) .* (fdx2(:) ./ g(:));
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| 37 | corrected_matches(:,4) = ny2(:) + e(:) .* (fdy2(:) ./ g(:));
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| 38 | %
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| 39 | % corrected_matches(:,1) = nx1(:) + e(:) .* fdx1(:);
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| 40 | % corrected_matches(:,2) = ny1(:) + e(:) .* fdy1(:);
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| 41 | % corrected_matches(:,3) = nx2(:) + e(:) .* fdx2(:);
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| 42 | % corrected_matches(:,4) = ny2(:) + e(:) .* fdy2(:);
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| 43 |
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| 44 | e = e.^2; |
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