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1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | %this is code to remove outliers via chieral constraint
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4 |
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5 |
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6 | function inlier_index = torr_robust_chieral(X,P1,P2)
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7 |
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8 | %next reproject and compare with the images
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9 | %the chieral constraint is sign(det M) * sign (third homog coord of reprojected image) * sign (fourth homog coord X)
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10 | % to make sure we dont get any outliers we average the inequalities over all the points, ones with a bad sign
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11 | % can later be removed as outleirs.
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12 | %we want chieral for both cameras to be positive
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13 |
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14 | ax1 = P1 * X;
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15 |
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16 | bx1 = P2 * X;
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17 |
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18 | chieral = (sign(ax1(3,:) ) .* sign (X(4,:))) + (sign(bx1(3,:) ) .* sign (X(4,:)));
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19 |
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20 | inlier_index = find(chieral == 2);
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21 |
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