1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | function [f,f_sq_errors, n_inliers,inlier_index] = torr_mapsac_F(x1,y1,x2,y2, no_matches, m3, no_samp, T)
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4 | %disp('This just does calculation of perfect data,for test')
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5 | %disp('Use estf otherwise')
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6 | %f = rand(9);% estimate fundamental matrix from perfect points??
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7 |
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8 | function f = torr_mapsach(x1,y1,x2,y2, no_matches,m3, no_samp, T)
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9 | %disp('This just does calculation of perfect data,for test')
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10 | %disp('Use estf otherwise')
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11 | f = rand(9);
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12 | no_samp = 200;
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13 | ptot = 0.0;
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14 |
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15 | et = errh(f,x1,y1,x2,y2, no_matches, m3);
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16 | bestsse = norm(et) * norm(et);
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17 |
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18 | for(i = 1:no_samp)
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19 |
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20 | choice = randperm(no_matches);
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21 |
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22 | %set up local design matrix
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23 | for (j = 1:4)
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24 | tx1(j) = x1( choice(j));
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25 | tx2(j) = x2( choice(j));
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26 | ty1(j) = y1( choice(j));
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27 | ty2(j) = y2( choice(j));
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28 |
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29 | end
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30 |
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31 | ft = esth(tx1,ty1,tx2,ty2,4,m3);
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32 | et = errh(ft,x1,y1,x2,y2, no_matches, m3);
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33 | sse(i) = norm(et) * norm(et);
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34 | % use sse 0 to bring it to a reasonable value
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35 |
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36 | if i ==0
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37 | f = ft;
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38 | bestsse = sse(i);
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39 | elseif bestsse > sse(i)
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40 | f = ft;
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41 | bestsse = sse(i);
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42 | end
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43 |
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44 |
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45 |
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46 | p(i) = exp( -sse(i));
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47 | ptot = ptot + p(i);
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48 |
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49 | end
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50 |
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51 |
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52 | %bayes factor
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53 | bf = 0.0;
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54 | logptot = log(ptot);
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55 | for(i = 1:no_samp)
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56 | sse2(i) = - sse(i) - logptot;
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57 | %integrate p(D|R)p(R)
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58 | p(i) =p(i)* exp( sse2(i) );
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59 | bf = bf + p(i);
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60 | end
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61 |
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62 | %ptot
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63 | bf
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64 | logbf = log(bf)
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65 | %log(p)
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66 | %maybe do a better fit after
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