function?t?=?ant_cfnsf（x1y1x2y2m3f_init）
%?This?is?the?code?to?estimate?the?fundamental?matrix?using
%??the?constrained?vesrion?of?the?fundamental?numerical?scheme.
%??It?has?been?written?so?as?to?be?included?in?Phil?Torr‘s
%??structure?and?motion?package?（see?http://research.microsoft.com/downloads/）
%??for?the?purposes?of?comparing?estimators.??
%?For?a?description?of?the?method?see?
%??http://www.cs.adelaide.edu.au/users/hengel/Vision/ParameterEstimation/index.html
%?Anton?van?den?Hengel?-?anton@cs.adelaide.edu.au

%?The?m3?thing?makes?things?a?little?bit?more?complicated.??The?error?measures?all?use
%??m3?set?to?some?number?which?usually?isn‘t?1.??So?we?need?to?do?the?estimation
%??taking?that?into?account.??The?problem?is?that?we?need?to?（Hartley）?normalise?the
%??data?before?we?do?cfns?or?it?won‘t?work?and?I‘m?not?sure?that?the?m3?thing?is?equivalent
%??as?it‘s?only?a?scaling?and?not?a?recentering?and?I?haven‘t?tested?it.
[x1y1x2y2]?=?HartleyNormaliseFData（x1y1x2y2）;

if?nargin??6
????error（‘Wrong?number?of?args?to?fns‘）;
elseif?nargin?==?5
????%?We?don‘t?have?an?initial?estimate?so?we?need?to?generate?one
????????t?=?torr_estf（x1y1x2y2length（x1）1）;
else
????%?Need?to?be?careful?with?initial?estimates?because?they?have?to?
????%??be?calculated?with?m3?=?1
????t?=?f_init;
end

iter?=?0;
t_old?=?ones（size（t））;
while?（（iter??1e-8））
????iter?=?iter?+?1;
????t_old?=?t;
????
????ZZ?=?constFnsFactorMatrix（tx1y1x2y2）;
????%[MZZ]?=?fnsJamlMatrices（tx1y1x2y2）;
????[v?l]?=?eig（ZZ）;
????l?=?abs（diag（l））;
????[l?indices]?=?sort（l）;
????t?=?v（:?indices（1））;
????
????%?Normalise?just?for?numerical?stability
????t?=?t/norm（t‘fro‘）;
????
end

%?Undo?the?Hartley?Normalisation
t?=?unNormalise（t）;

%?And?put?the?result?into?the?right?form?re?m3
T?=?eye（3）;
T（33）=m3;
PhilT=inv（T）;
t?=?reshape（（PhilT‘?*?reshape（t33）‘?*?PhilT）‘91）;
t?=?t/norm（t‘fro‘）;
return



function?[MXH]?=?fnsJamlMatrices（tx1y1x2y2）
%
%?Computes?M_theta?and?X_theta?（see?the?paper?for?details）
%??It?is?possible?to?make?this?faster?but?at?the?cost?of?
%??making?it?harder?to?understand

Xbits?=?zeros（99）;
M?=?zeros（99）;
T?=?zeros（99）;
tt?=?t*t‘;?%?Just?to?speed?things?up?a?little
u?=?zeros（91）;
du?=?zeros（9?4）;????du（7?1）?=?1;????du（8?2）?=?1;????du（3?3）?=?1;????du（6?4）?=?1;

for?i?=?1:length（x1）
????u?=?[x1（i）?*?x2（i）?y1（i）?*?x2（i）?x2（i）?x1（i）?*?y2（i）?...
????????????y1（i）?*?y2（i）?y2（i）?x1（i）?y1（i）?1]‘;
????
????A?=?u?*?u‘;
????%?Maybe?it?would?be?faster?to?do?these?as?a?block?
????du（1?1）?=?x2（i）;
????du（4?1）?=?y2（i）;
????
????du（2?2）?=?x2（i）;
????du（5?2）?=?y2（i）;
????
????du（1?3）?=?x1（i）;
????du（2?3）?=?y1（i）;
????
????du（4?4）?=?x1（i）;
????du（5?4）?=?y1（i）;
????%?use?identity?covs?...
????B?=?du?*?du‘;
????theta_b_theta?=?t‘?*?B?*?t;
????M?=?M?+?（A?/?theta_b_theta）;
????if?nargout?>?1
????????tAt?=?t‘?*?A?*?t;
????????Xbits?=?Xbits?-?B?*?（（tAt）?/?（theta_b_theta^2））;
????????if?nargout?==

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-11-30?16:44??5LMedS算法\
?????文件?????8186497??2017-11-30?16:44??5LMedS算法\571790_83162e13c41b8d3ca58602dc70eb2b97.zip
?????目錄???????????0??2002-10-20?17:21??5LMedS算法\Toolbox_Fundamental_matrix\
?????文件????????6559??2002-09-05?16:49??5LMedS算法\Toolbox_Fundamental_matrix\ant_cfnsf.m
?????文件????????2960??2002-09-05?16:45??5LMedS算法\Toolbox_Fundamental_matrix\ant_fnsf.m
?????文件????????1870??2002-09-08?00:45??5LMedS算法\Toolbox_Fundamental_matrix\fummatplot.m
?????文件????????3707??2002-09-08?00:28??5LMedS算法\Toolbox_Fundamental_matrix\funmat7p.m
?????文件???????34856??2002-09-09?11:42??5LMedS算法\Toolbox_Fundamental_matrix\funmatdemo.m
?????文件???????34840??2002-09-09?16:06??5LMedS算法\Toolbox_Fundamental_matrix\funmatdemotest.m
?????文件????????1025??2002-09-08?00:34??5LMedS算法\Toolbox_Fundamental_matrix\funmateig.m
?????文件????????1417??2002-09-08?00:31??5LMedS算法\Toolbox_Fundamental_matrix\funmatError.m
?????文件????????5000??2002-09-08?00:36??5LMedS算法\Toolbox_Fundamental_matrix\funmatFaugeras.m
?????文件????????1598??2002-09-08?00:36??5LMedS算法\Toolbox_Fundamental_matrix\funmatgradeig.m
?????文件????????1603??2002-09-08?00:36??5LMedS算法\Toolbox_Fundamental_matrix\funmatgradls.m
?????文件????????1671??2002-09-08?00:36??5LMedS算法\Toolbox_Fundamental_matrix\funmatilmmdpel.m
?????文件???????49756??2002-09-08?00:36??5LMedS算法\Toolbox_Fundamental_matrix\funmatinmmdpel.m
?????文件????????4074??2002-09-08?00:36??5LMedS算法\Toolbox_Fundamental_matrix\funmatLMedSeig.m
?????文件????????4048??2002-09-08?00:37??5LMedS算法\Toolbox_Fundamental_matrix\funmatLMedSls.m
?????文件????????6714??2002-09-08?00:37??5LMedS算法\Toolbox_Fundamental_matrix\funmatLMedSMest.m
?????文件????????1010??2002-09-08?00:33??5LMedS算法\Toolbox_Fundamental_matrix\funmatls.m
?????文件????????2108??2002-09-08?00:37??5LMedS算法\Toolbox_Fundamental_matrix\funmatMesteig.m
?????文件????????2064??2002-10-04?17:54??5LMedS算法\Toolbox_Fundamental_matrix\funmatMestls.m
?????文件????????2145??2002-09-08?00:37??5LMedS算法\Toolbox_Fundamental_matrix\funmatMestTorr.m
?????文件????????2758??2002-09-08?00:37??5LMedS算法\Toolbox_Fundamental_matrix\funmatnr.m
?????文件?????????455??2002-09-08?00:37??5LMedS算法\Toolbox_Fundamental_matrix\funmatrank2.m
?????文件????????3301??2002-10-07?13:03??5LMedS算法\Toolbox_Fundamental_matrix\funmatRANSAC.m
?????文件?????????414??2002-09-08?00:41??5LMedS算法\Toolbox_Fundamental_matrix\goodpoints.m
?????目錄???????????0??2002-10-20?17:21??5LMedS算法\Toolbox_Fundamental_matrix\Imatges\
?????文件????????1761??2000-08-22?15:57??5LMedS算法\Toolbox_Fundamental_matrix\Imatges\calibnoni.dat
?????文件?????1331980??2000-02-18?12:09??5LMedS算法\Toolbox_Fundamental_matrix\Imatges\calibnonia.tif
?????文件?????1331980??2000-02-18?12:41??5LMedS算法\Toolbox_Fundamental_matrix\Imatges\calibnonib.tif
............此處省略69個文件信息