getobjectcoordinates.m

三维重建

function [Ob,err,errx,erry,errz] = getObjectCoordinates(ste,X,Y)
%
%
%   [O,err,errx,erry,errz] = GETOBJECTCOORDINATES(ste,X)
%
%
%   Returns the 3D points corresponding to the four image coordinates (in
%   px) stored in the rows of X. 
%
%   Additionally the root mean squared error is computed for all
%   directions and for each direction seperately.
%
%
%

if nargin < 3
    Y = [];
end
  
    err = 0; errz = 0;errx = 0; erry = 0;
    Ob = [];
    
   for i = 1:length(Y)
       o = getObjectCoordinate(ste,X(i,:));
       Ob = [Ob;o];
       
       if length(Y) > 0
           tmp = (Y(i,:)-o).^2;
           err = err + sum(tmp);
           errx = errx + tmp(1);
           erry = erry + tmp(2);
           errz = errz + tmp(3);
       end
       
   end

   if length(Y) > 0
       err = sqrt(err/(prod(size(Y))));
       errx = sqrt(errx/size(Y,1));
       erry = sqrt(erry/size(Y,1));
       errz = sqrt(errz/size(Y,1));
   else
       err = -1; errx = -1; erry = -1; errz = -1;
   end