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[37] | 1 | %
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| 2 | % %designed for the good of the world by Philip Torr
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| 3 | % copyright Philip Torr and Microsoft Corp 2002
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| 4 | % linear estimation of H
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| 5 |
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| 6 | function h = torr_esth(x1,y1,x2,y2,no_matches,m3)
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| 7 | % estimate homography
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| 8 |
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| 9 | A(:,1) = x1(:) *m3;
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| 10 | A(:,2) = y1(:) *m3;
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| 11 | A(:,3) = m3 *m3;
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| 12 |
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| 13 | A(:,4) = 0;
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| 14 | A(:,5) = 0;
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| 15 | A(:,6) = 0;
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| 16 |
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| 17 | A(:,7) = x1(:) .* x2(:);
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| 18 | A(:,8) = y1(:) .* x2(:);
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| 19 | A(:,9) = m3 * x2(:);
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| 20 |
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| 21 |
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| 22 | B(:,4) = x1(:) *m3;
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| 23 | B(:,5) = y1(:) *m3;
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| 24 | B(:,6) = m3 *m3;
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| 25 |
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| 26 | B(:,7) = x1(:) .* y2(:);
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| 27 | B(:,8) = y1(:) .* y2(:);
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| 28 | B(:,9) = m3 * y2(:);
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| 29 |
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| 30 |
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| 31 | B(:,1) = 0;
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| 32 | B(:,2) = 0;
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| 33 | B(:,3) = 0;
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| 34 |
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| 35 |
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| 36 | C = [A; B];
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| 37 |
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| 38 | % we want to call least squares for C
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| 39 |
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| 40 | h = torr_ls(C);
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| 41 |
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| 42 | %C * v
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