source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/torr/torr_estf_bookstein.m @ 37

Last change on this file since 37 was 37, checked in by (none), 14 years ago

Added original make3d
File size: 731 bytes
Line 
1%       By Philip Torr 2002
2%       copyright Microsoft Corp.
3function f = torr_estf_bookstein(x1,y1,x2,y2, no_matches,m3)
4
5   D(:,1) = x1(:).* x2(:);
6   D(:,2) = y1(:).* x2(:);
7   D(:,3) = m3* x2(:);
8   
9   D(:,4) = x1(:).* y2(:);
10   D(:,5) = y1(:).* y2(:);
11   D(:,6) = m3* y2(:);
12   
13   D(:,7) = x1(:).* m3;
14   D(:,8) = y1(:).* m3;
15   D(:,9) = m3* m3;
16   
17   
18    D_orig  = D;       
19    temp = D(:,3);
20    D(:,3) = D(:,5);
21    D(:,5) = temp;
22    M = D' * D;
23    M11 = M(1:4,1:4);
24    M12 = M(1:4,5:9); %4 x 5
25    M22 = M(5:9,5:9);
26    M112 = M11 - M12 * inv(M22) * M12';
27    f11 = torr_ls(M112);
28    f12 = - f11' * M12 * inv(M22);
29    f = [f11(1), f11(2), f12(1),f11(4), f11(3), f12(2),f12(3), f12(4), f12(5)]';
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