multiplepointreconstruction.m

三维重建

function [ret, Py , V] = multiplePointReconstruction(ste,X,camnum,dsp)
%
%   [ret,  Py, V] = MULTIPLEPOINTRECONTRUCTION(ste,X[,camnum,dsp])
%
%   Estimates the depth of the image coordinate pairs stored in X from
%   camera camnum (camnum = {1|2}).
%
%   Py holds the difference between the two y-coordinates estimations and v
%   the confidence of the spatial coordinates' imrovements (see IMPROVESPATIALCOORDINATE
%   for further information about the confidence ellipsoid).
%
%   If dsp is set to 1 the estimations are displayed.
%

    if nargin < 3
        camnum = 1;    
    end
    if nargin < 4
        dsp = 0;    
    end

    ret = []; Py = []; V = []; 
    for i = 1:size(X,1)
        disp(['Reconstructing point #' num2str(i) ' with camera #' num2str(camnum)])
        [x,py,v] = singlePointReconstruction(ste,X(i,:),camnum,dsp);
        ret = [ret; x];
        Py = [Py;py];
        V = [V;v'];
    end