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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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