function?[Him1_inliersim2_inliers]?=?ComputeH（im1_matches?im2_matches?nb_iter?epsilon）
%
%?ComputeH
%???->?robust?estimation?of?the?homography?using?RANSAC
%
%?function?[Him1_inliersim2_inliers]?=?ComputeH（im1_matches?im2_matches?nb_iter?epsilon）
%?
%?Input
%???-?im1_matches?im2_points?:?points?matching?in?the?two?images
%???????im2?=?Him1
%???-?nb_iter?:?number?of?iterations?for?the?RANSAC?algorithm
%?
%?Output
%???-?H?:?computed?homography

%?@author:?JB?Fiot
%?@Version:?Nov08


????nb_points?=?size（im1_matches1）;
????Best_nb_inliers?=?0;

????for?iter=1:nb_iter
????????selected_points?=?[];
????????im1_inliers=[];?im2_inliers=[];
????????while?size（unique（selected_points）1）~=4
????????????selected_points?=?random（‘discrete?uniform‘?nb_points?[4?1]）;
????????end
????????
????????A=[];
????????
		for?i=1:4
			x1?=?im1_matches（selected_points（i）1）;
			y1?=?im1_matches（selected_points（i）2）;
			x2prime?=?im2_matches（selected_points（i）1）;
			y2prime?=?im2_matches（selected_points（i）2）;

			ax?=?[-x1-y1-1?000?x2prime*x1x2prime*y1x2prime];
			ay?=?[000?-x1-y1-1?y2prime*x1y2prime*y1y2prime];

????????????A?=?[A;ax;ay];
????????end
????????????
?		[USV]?=?svd（A）;
?		h?=?V（:end）;
????????
????????H?=?reshape（h?[33]）‘;
????????H?=?H/H（33）;
????????
????????nb_inliers?=?0;
????????for?i=1:nb_points
????????????Hi?=?H*[im1_matches（i1）;im1_matches（i2）;1];
?????????%???invHi=inv（H）*[im1_matches（i1）;im1_matches（i2）;1];
??????????%??if?（Hi（3）?~=?0?&&?invHi（3）~=0）
???????????%?????if?（（Hi（1）/Hi（3）-im2_matches（i1））^2+（Hi（2）/Hi（3）-im2_matches（i2））^2+（invHi（1）/invHi（3）-im1_matches（i1））^2+（invHi（2）/invHi（3）-im1_matches（i2））^2）????????????if?Hi（3）?~=?0
????????????????if?（（Hi（1）/Hi（3）-im2_matches（i1））^2+（Hi（2）/Hi（3）-im2_matches（i2））^2）????????????????????nb_inliers?=?nb_inliers?+?1;
????????????????????im1_inliers?=?[im1_inliers;im1_matches（i:）];
????????????????????im2_inliers?=?[im2_inliers;im2_matches（i:）];
????????????????end
????????????end
		
????????end
????????
????????if?nb_inliers>Best_nb_inliers
????????????Best_nb_inliers?=?nb_inliers;
????????????Best_im1_inliers=im1_inliers;
????????????Best_im2_inliers=im2_inliers;
????????end
??????????????
????end
????im1_inliers=Best_im1_inliers;
????im2_inliers=Best_im2_inliers;
????
????%Re-estimation?of?the?homographies?with?all?inliers.
????A=[];
????for?i=1:size（im1_inliers1）
		x1?=?im1_inliers（i1）;
????????y1?=?im1_inliers（i2）;
????????x2prime?=?im2_inliers（i1）;
????????y2prime?=?im2_inliers（i2）;

		ax?=?[-x1-y1-1?000?x2prime*x1x2prime*y1x2prime];
		ay?=?[000?-x1-y1-1?y2prime*x1y2prime*y1y2prime];
????????????
????????A?=?[A;ax;ay];
????end


????[USV]?=?svd（A）;
????h?=?V（:end）;
????H?=?reshape（h?[33]）‘;
????t=H（1:）;
????H（1:）=H（2:）;
????H（2:）=t;
????t=H（:1）;
????H（:1）=H（:2）;
????H（:2）=t;
????
????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????2990??2009-06-04?23:19??492216156?Image_stitching\acomputeH.m

?????文件????????846??2009-06-04?23:19??492216156?Image_stitching\adist2.m

?????文件???????1267??2009-06-04?23:19??492216156?Image_stitching\aGetDescriptors.m

?????文件???????1171??2009-06-04?23:19??492216156?Image_stitching\aharris.m

?????文件????????642??2009-06-04?23:19??492216156?Image_stitching\aLessHarrisPoints.m

?????文件???????1306??2009-06-04?23:19??492216156?Image_stitching\aMatchDescriptors.m

?????文件???????5762??2009-06-04?23:19??492216156?Image_stitching\aStitcher.m

?????文件???????3001??2009-06-04?23:19??492216156?Image_stitching\avgg_warp_H.m

?????文件?????????30??2013-04-25?11:07??492216156?Image_stitching\read.txt

?????目錄??????????0??2013-04-25?11:06??492216156?Image_stitching\data

?????目錄??????????0??2013-04-25?11:07??492216156?Image_stitching

-----------?---------??----------?-----??----

????????????????17015????????????????????11