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1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | % estimate fundamental matrix from perfect points??
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4 |
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5 | function f = torr_estf(x1,y1,x2,y2, no_matches,m3)
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6 | %disp('This just does calculation of perfect data,for test')
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7 | %disp('Use estf otherwise')
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8 |
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9 | %for(i = 1:no_matches)
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10 |
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11 | A(:,1) = x1(:).* x2(:);
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12 | A(:,2) = y1(:).* x2(:);
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13 | A(:,3) = m3* x2(:);
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14 |
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15 | A(:,4) = x1(:).* y2(:);
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16 | A(:,5) = y1(:).* y2(:);
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17 | A(:,6) = m3* y2(:);
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18 |
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19 | A(:,7) = x1(:).* m3;
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20 | A(:,8) = y1(:).* m3;
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21 | A(:,9) = m3* m3;
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22 |
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23 |
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24 | %end
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25 |
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26 |
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27 | % (x2 y2 m3) F (x1 y1 m3)'
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28 | % (image 2) F ( image 1)'
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29 |
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30 |
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31 | %est_F = [v(1) v(2) v(3); v(4) v(5) v(6); v(7) v(8) v(9)];
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32 |
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33 | f = torr_ls(A);
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34 |
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35 | %algebraic residuals
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36 | %r = A * v;
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37 |
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38 |
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39 | %disp('This just does calculation of perfect data,for test')
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40 | %disp('Use estf otherwise')
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