1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | %main()
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4 | %profile on
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5 | m3 = 170;
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6 | sse2t = 0;
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7 | %method = 5;
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8 | %
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9 |
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10 | state_rand = 400;
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11 | randn('state',state_rand)
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12 | rand('state',state_rand)
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13 |
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14 | trans = 0;
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15 | true_epipole = torr_get_right_epipole(true_F,m3);
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16 | method
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17 |
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18 | for(i = 1:1)
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19 |
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20 | %generate a load of stuffs
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21 | torr_genf;
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22 |
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23 | nX1 = [nx1,ny1, ones(length(x1),1) * m3];
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24 | nX2 = [nx2,ny2, ones(length(x2),1) * m3];
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25 |
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26 | %mine
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27 | %f_torr = estf(nx1,ny1,nx2,ny2, no_matches,m3);
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28 |
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29 | %the F matrix is defined like:
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30 | % (nx2, ny2, m3) f(1 2 3) nx1
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31 | % (4 5 6) ny1
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32 | % (7 8 9) m3
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33 |
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34 |
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35 |
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36 | if method == 7
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37 | nf = estf(nx1,ny1,nx2,ny2, no_matches,m3);
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38 | nF = reshape(nf,3,3)';
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39 | else
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40 | [nF , nf]= fm_linear(nX1, nX2, eye(3), method);
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41 | end
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42 | %calc noisy epipole
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43 | noisy_epipole = torr_get_right_epipole(nF,m3);
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44 | epipole_distance = sqrt(norm(true_epipole -noisy_epipole))
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45 |
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46 |
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47 | ne1 = torr_errf2(nf,x1,y1,x2,y2, no_matches, m3);
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48 |
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49 | sne1 = sort(ne1);
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50 | sse_n = norm(sne1(20:no_matches-20))
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51 | % nf'
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52 |
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53 | theta2 = 2 * pi * rand;
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54 | rot2 = [ cos(theta2), sin(theta2); -sin(theta2), cos(theta2)];
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55 |
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56 | theta3 = 2 * pi * rand;
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57 | rot3 = [ cos(theta3), sin(theta3); -sin(theta3), cos(theta3)];
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58 |
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59 | nRxy1 = [nx1 ny1] * rot2 + trans;
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60 | Rxy1 = [x1 y1] * rot2 + trans;
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61 |
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62 | nRxy2 = [nx2 ny2] * rot3 - trans;
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63 | Rxy2 = [x2 y2] * rot3 - trans;
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64 |
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65 |
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66 | nRX1 = [nRxy1(:,1),nRxy1(:,2), ones(length(x1),1) * m3];
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67 | nRX2 = [nRxy2(:,1),nRxy2(:,2), ones(length(x2),1) * m3];
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68 |
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69 | %
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70 | if method == 7
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71 | nRf = estf(nRxy1(:,1),nRxy1(:,2), nRxy2(:,1),nRxy2(:,2), no_matches,m3);
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72 | nRF = reshape(nf,3,3)';
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73 | else
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74 | [nRF , nRf]= fm_linear(nRX1, nRX2, eye(3), method);
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75 | end
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76 |
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77 |
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78 | Rne1 = torr_errf2(nRf,Rxy1(:,1),Rxy1(:,2), Rxy2(:,1),Rxy2(:,2), no_matches, m3);
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79 |
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80 | sRne1 = sort(Rne1);
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81 | Rsse_n = norm(sRne1(20:no_matches-20))
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82 | % nRf'
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83 |
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84 |
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85 |
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86 | G1 = [rot2' [trans trans]'/m3; 0 0 1];
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87 | G2 = [rot3' [-trans -trans]'/m3; 0 0 1];
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88 |
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89 | nF2 =G2' * nRF * G1
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90 | nf2 = reshape(nF2',9,1);
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91 | nF
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92 | true_F
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93 | end
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94 |
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95 |
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96 | if draw_epipole
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97 | torr_display_epipoles(nF,nF2,perfect_matches, x1,y1, u1, v1)
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98 | end
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99 | %profile off
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100 | %
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101 | %
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102 | % some crap
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103 | %
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104 | % >> XX2 = [x2(1), y2(1), m3]
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105 | %
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106 | % XX2 =
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107 | %
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108 | % 101.4245 -119.2097 256.0000
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109 | %
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110 | % >> XX1 = [x1(1), y1(1), m3]
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111 | %
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112 | % XX1 =
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113 | %
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114 | % 49.3714 -140.5000 256.0000
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115 | %
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116 | % >>
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117 | %
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118 | %
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119 | %
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120 | %
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121 |
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122 |
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123 | % e = fm_error_hs(F, n1, n2, nowarn); |
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