Bug fixes from Dong Li

git-svn-id: file://localhost/Volumes/Storage/SVNRepository/Research/RANSAC@51 876389e7-766b-4580-87e5-4a53071d1477
RANSAC · Nov 20, 2011 · 88d4b83 · 88d4b83
1 parent 5f8a863
commit 88d4b83
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Showing 11 changed files with 18 additions and 15 deletions.
diff --git a/Examples/VERSION.txt b/Examples/VERSION.txt
diff --git a/Examples/test_RANSAC_RST.m b/Examples/test_RANSAC_RST.m
@@ -27,7 +27,7 @@
 options.man_fun = @error_RST;
 options.mode = 'MSAC';
 options.Ps = [];
-options.notify_iter = [];
+options.notify_iters = [];
 options.min_iters = 1000;
 options.fix_seed = false;
 options.reestimate = true;

diff --git a/Examples/test_RANSAC_affine.m b/Examples/test_RANSAC_affine.m
@@ -27,7 +27,7 @@
 options.man_fun = @error_affine;
 options.mode = 'MSAC';
 options.Ps = [];
-options.notify_iter = [];
+options.notify_iters = [];
 options.min_iters = 1000;
 options.fix_seed = false;
 options.reestimate = true;
@@ -50,7 +50,7 @@
 Aphi = 30;
 phi = Aphi*pi*(rand()-0.5);
 T   = rand(2, 1);
-gamma = 0.05*randn(1); 
+gamma = 0.30*randn(1); 
 
 C = s*cos(phi);
 S = s*sin(phi);
@@ -103,8 +103,9 @@
     results.Theta(2) results.Theta(1)];
 T = results.Theta(3:4);
 
-X1_map = R*X1 + repmat(T, 1, size(X1,2));
-X2_map = R\(X2 - repmat(T, 1, size(X1,2)));
+A = H(1:2, 1:2);
+X1_map = A*X1 + repmat(T, 1, size(X1,2));
+X2_map = A\(X2 - repmat(T, 1, size(X1,2)));
 
 figure;
 

diff --git a/Examples/test_RANSAC_homography.m b/Examples/test_RANSAC_homography.m
@@ -28,7 +28,7 @@
 options.man_fun = @error_homography;
 options.mode = 'MSAC';
 options.Ps = [];
-options.notify_iter = [];
+options.notify_iters = [];
 options.min_iters = 1000;
 options.fix_seed = false;
 options.reestimate = true;

diff --git a/Examples/test_RANSAC_line_01.m b/Examples/test_RANSAC_line_01.m
@@ -27,7 +27,7 @@
 options.man_fun = @error_line;
 options.mode = 'MSAC';
 options.Ps = [];
-options.notify_iter = [];
+options.notify_iters = [];
 options.min_iters = 1000;
 options.fix_seed = false;
 options.reestimate = true;

diff --git a/Examples/test_RANSAC_line_02.m b/Examples/test_RANSAC_line_02.m
@@ -21,7 +21,7 @@
 options.man_fun = @error_line;
 options.mode = 'MSAC';
 options.Ps = [];
-options.notify_iter = [];
+options.notify_iters = [];
 options.min_iters = 100;
 options.fix_seed = false;
 options.reestimate = true;

diff --git a/Examples/test_RANSAC_plane.m b/Examples/test_RANSAC_plane.m
@@ -27,7 +27,7 @@
 options.man_fun = @error_plane;
 options.mode = 'MSAC';
 options.Ps = [];
-options.notify_iter = [];
+options.notify_iters = [];
 options.min_iters = 1000;
 options.fix_seed = false;
 options.reestimate = true;

diff --git a/Models/Affine/mapping_affine.m b/Models/Affine/mapping_affine.m
@@ -57,8 +57,8 @@
     dx = xs-b1;
     dy = ys-b2;
     det = a11*a22 - a12*a21;
-    xd = ( a22*xs - a12*ys)/det;
-    yd = (-a21*xs + a11*ys)/det;
+    xd = ( a22*dx - a12*dy)/det;
+    yd = (-a21*dx + a11*dy)/det;
 end;
 
 % make sure the points are returned as row vectors

diff --git a/RANSAC.m b/RANSAC.m
@@ -239,10 +239,11 @@
     return;
 end
 
+% get the noise threshold via Chi squared distribution
+[dummy T_noise_squared d] = feval(options.man_fun, [], [], options.sigma, options.P_inlier);
+
 % calculate the probability for the inlier detection.
 if ~isfield(options, 'T_noise_squared')
-    % get the noise threshold via Chi squared distribution
-    [dummy T_noise_squared d] = feval(options.man_fun, [], [], options.sigma, options.P_inlier);
     options.T_noise_squared = T_noise_squared;
     if (options.verbose)
         fprintf('\nSquared noise threshold = %f, (assuming Gaussian noise, for sigma = %f)', T_noise_squared, options.sigma);

diff --git a/README.txt b/README.txt
@@ -85,6 +85,8 @@ of templates for bibtex:
 Updates History
 ---------------
 
+- Nov 2011: Fixed some bugs in the example scripts.
+
 - August 2011: General fixes. Added affine model. 
 
 - 18 October 2009: Fixed a bug in get_minimal_sample_set.m to handle

diff --git a/VERSION.txt b/VERSION.txt
@@ -1 +1 @@
-07-Aug-2011
+20-Nov-2011