function?[F?inliers]?=?FindFund（x1?x2?t?feedback）

????if?~all（size（x1）==size（x2））
????????error（‘Data?sets?x1?and?x2?must?have?the?same?dimension‘）;
????end
????
????if?nargin?==?3
	feedback?=?0;
????end
????
????[rowsnpts]?=?size（x1）;
????if?rows~=2?&?rows~=3
????????error（‘x1?and?x2?must?have?2?or?3?rows‘）;
????end
????
????if?rows?==?2????%?Pad?data?with?homogeneous?scale?factor?of?1
????????x1?=?[x1;?ones（1npts）];
????????x2?=?[x2;?ones（1npts）];????????
????end
????
????%?Normalise?each?set?of?points?so?that?the?origin?is?at?centroid?and
????%?mean?distance?from?origin?is?sqrt（2）.??
????[x1?T1]?=?normalise（x1）;
????[x2?T2]?=?normalise（x2）;

????s?=?8;??%?8-point
????
????fittingfn?=?@fundmatrix;
????distfn????=?@funddist;
????degenfn???=?@isdegenerate;
????[F?inliers]?=ransac（[x1;?x2]?fittingfn?distfn?degenfn?s?t?feedback）;
????%do?a?final?least?squares?fit?on?the?data?points?
????F?=?fundmatrix（x1（:inliers）?x2（:inliers））;?
????%?Denormalise
????F?=?T2‘*F*T1;
??%check?if?is?degenerated??
function?r?=?isdegenerate（x）
????r?=?0;?
????
%?Function?to?evaluate?Sampson?distance?of?the?fit?of?a?fundamental?matrix
%?with?respect?to?a??set?of?matched?points?as?needed?by?RANSAC.???
????function?[bestInliers?bestFV_ar]?=?funddist（F?x?t）;
????
????x1?=?x（1:3:）;????%?Extract?x1?and?x2?from?x
????x2?=?x（4:6:）;
????
????
????if?iscell（F）??%?several?solutions?each?of?which?must?be?tested
		??
	nF?=?length（F）;???%?Number?of?solutions?to?test
	bestF?=?F{1};?????%?Initial?allocation?of?best?solution
	ninliers?=?0;?????%?Number?of?inliers
	
	for?k?=?1:nF
	????x2tFx1?=?zeros（1length（x1））;
	????for?n?=?1:length（x1）
		x2tFx1（n）?=?x2（:n）‘*F{k}*x1（:n）;
	????end
	????
	????Fx1?=?F{k}*x1;
	????Ftx2?=?F{k}‘*x2;?????

	????%?Evaluate?distances
	????d?=??x2tFx1.^2?./?...
		?（Fx1（1:）.^2?+?Fx1（2:）.^2?+?Ftx2（1:）.^2?+?Ftx2（2:）.^2）;
	????
	????inliers?=?find（abs（d）??????????????????????????????????????????
	????
	????if?length（inliers）?>?ninliers???%?Record?best?solution
		ninliers?=?length（inliers）;
		bestF?=?F{k};
		bestInliers?=?inliers;
	????end
	end
????
????else?????%?We?just?have?one?solution
	x2tFx1?=?zeros（1length（x1））;
	for?n?=?1:length（x1）
	????x2tFx1（n）?=?x2（:n）‘*F*x1（:n）;
	end
	
????
	Fx1?=?F*x1;
	Ftx2?=?F‘*x2;?????
	
	%?Evaluate?distances
	d?=??x2tFx1.^2?./?...
	?????（Fx1（1:）.^2?+?Fx1（2:）.^2?+?Ftx2（1:）.^2?+?Ftx2（2:）.^2）;
?????bestInliers=find（abs（x2tFx1）?????bestF?=?F;????
????if（size（bestInliers2）<4）
????????V_ar=1;
????else
	V_ar=var（x2tFx1（:bestInliers‘））;
?????end
????end
????%?computes?fundamental?matrix?from?8?or?more?points
function?[Fe1e2]?=?fundmatrix（varargin）
????
????[x1?x2?npts]?=?validate（varargin（:））;
????Octave?=?exist（‘OCTAVE_VERSION‘）?~=?0;
????%?Normalise?each?set?of?points?so?that?the?origin?
????[x1?T1]?=?normalise（x1）;
????[x2?T2]?=?normalise（x2）;
?

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

?????文件???????3694??2012-03-29?15:44??zhisong_chen_project3\FindFund.m

?????文件???????2711??2012-03-22?15:54??zhisong_chen_project3\harris.m

?????文件??????37750??2012-03-22?15:14??zhisong_chen_project3\im1.jpg

?????文件??????38250??2012-03-22?15:15??zhisong_chen_project3\im2.jpg

?????文件???????1973??2012-03-29?15:58??zhisong_chen_project3\main.m

?????文件???????1699??2012-03-29?15:35??zhisong_chen_project3\NCC.m

?????文件???????1133??2012-03-29?14:15??zhisong_chen_project3\normalise.m

?????文件???????2460??2012-03-29?15:44??zhisong_chen_project3\ransac.m

?????文件????????739??2012-03-22?18:17??zhisong_chen_project3\validate.m

?????目錄??????????0??2012-04-21?17:01??zhisong_chen_project3

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

????????????????90409????????????????????10