[37] | 1 | % By Philip Torr 2002
|
---|
| 2 | % copyright Microsoft Corp.
|
---|
| 3 | %main()
|
---|
| 4 | %profile on
|
---|
| 5 | m3 = 256;
|
---|
| 6 | sse2t = 0;
|
---|
| 7 | %method = 5;
|
---|
| 8 | %
|
---|
| 9 |
|
---|
| 10 |
|
---|
| 11 | if new_random == 0
|
---|
| 12 | state_rand = 400;
|
---|
| 13 | randn('state',state_rand)
|
---|
| 14 | rand('state',state_rand)
|
---|
| 15 | end
|
---|
| 16 |
|
---|
| 17 | trans = 0;
|
---|
| 18 | true_epipole = torr_get_right_epipole(true_F,m3);
|
---|
| 19 |
|
---|
| 20 |
|
---|
| 21 | for(i = 1:1)
|
---|
| 22 |
|
---|
| 23 | %generate a load of stuffs
|
---|
| 24 | torr_genf;
|
---|
| 25 |
|
---|
| 26 | nX1 = [nx1,ny1, ones(length(x1),1) * m3];
|
---|
| 27 | nX2 = [nx2,ny2, ones(length(x2),1) * m3];
|
---|
| 28 |
|
---|
| 29 | %mine
|
---|
| 30 | %f_torr = estf(nx1,ny1,nx2,ny2, no_matches,m3);
|
---|
| 31 |
|
---|
| 32 | %the F matrix is defined like:
|
---|
| 33 | % (nx2, ny2, m3) f(1 2 3) nx1
|
---|
| 34 | % (4 5 6) ny1
|
---|
| 35 | % (7 8 9) m3
|
---|
| 36 |
|
---|
| 37 | %first try linear method
|
---|
| 38 | method = 3
|
---|
| 39 |
|
---|
| 40 | [nF , nf]= fm_linear(nX1, nX2, eye(3), method);
|
---|
| 41 | %calc noisy epipole
|
---|
| 42 | noisy_epipole = torr_get_right_epipole(nF,m3)
|
---|
| 43 | epipole_distance = sqrt(norm(true_epipole -noisy_epipole))
|
---|
| 44 |
|
---|
| 45 |
|
---|
| 46 | ne1 = torr_errf2(nf,x1,y1,x2,y2, no_matches, m3);
|
---|
| 47 |
|
---|
| 48 | sne1 = sort(ne1);
|
---|
| 49 | % sse_n = norm(sne1(20:no_matches-20))
|
---|
| 50 | sse_n = norm(sne1)
|
---|
| 51 | % nf'
|
---|
| 52 |
|
---|
| 53 | %
|
---|
| 54 | method = 5
|
---|
| 55 |
|
---|
| 56 | [nF2 , nf2]= fm_linear(nX1, nX2, eye(3), method);
|
---|
| 57 | %calc noisy epipole
|
---|
| 58 | noisy_epipole2 = torr_get_right_epipole(nF2,m3)
|
---|
| 59 | epipole_distance2 = sqrt(norm(true_epipole -noisy_epipole2))
|
---|
| 60 |
|
---|
| 61 | ne2 = torr_errf2(nf2,x1,y1,x2,y2, no_matches, m3);
|
---|
| 62 |
|
---|
| 63 | sne2 = sort(ne2);
|
---|
| 64 | % sse_n2 = norm(sne2(20:no_matches-20))
|
---|
| 65 | sse_n2 = norm(sne2)
|
---|
| 66 | % nRf'
|
---|
| 67 |
|
---|
| 68 |
|
---|
| 69 |
|
---|
| 70 | end
|
---|
| 71 |
|
---|
| 72 |
|
---|
| 73 | if draw_epipole
|
---|
| 74 | torr_display_epipoles(nF,nF2,perfect_matches, x1,y1, u1, v1)
|
---|
| 75 | end
|
---|
| 76 | %profile off
|
---|
| 77 | %
|
---|
| 78 | %
|
---|
| 79 | % some crap
|
---|
| 80 | %
|
---|
| 81 | % >> XX2 = [x2(1), y2(1), m3]
|
---|
| 82 | %
|
---|
| 83 | % XX2 =
|
---|
| 84 | %
|
---|
| 85 | % 101.4245 -119.2097 256.0000
|
---|
| 86 | %
|
---|
| 87 | % >> XX1 = [x1(1), y1(1), m3]
|
---|
| 88 | %
|
---|
| 89 | % XX1 =
|
---|
| 90 | %
|
---|
| 91 | % 49.3714 -140.5000 256.0000
|
---|
| 92 | %
|
---|
| 93 | % >>
|
---|
| 94 | %
|
---|
| 95 | %
|
---|
| 96 | %
|
---|
| 97 | %
|
---|
| 98 |
|
---|
| 99 |
|
---|
| 100 | % e = fm_error_hs(F, n1, n2, nowarn);
|
---|
| 101 |
|
---|
| 102 | if sse_n2 < sse_n
|
---|
| 103 | disp('Bookstein + Sampson betta')
|
---|
| 104 | else
|
---|
| 105 | disp('old betta')
|
---|
| 106 | end |
---|