Shape(Structure) From X.ppt

Normalized 8-point algorithm A = [x2(1,:)‘.*x1(1,:) x2(1,:).*x1(2,:) x2(1,:) ... x2(2,:).*x1(1,:) x2(2,:).*x1(2,:) x2(2,:) ... x1(1,:) x1(2,:) ones(npts,1) ]; [U,D,V] = svd(A); E = reshape(V(:,9),3,3); [U,D,V] = svd(E); E = U*diag([D(1,1) D(2,2) 0])*V; % Denormalise E = T2*E*T1; [x1, T1] = normalise2dpts(x1); [x2, T2] = normalise2dpts(x2); Normalization function [newpts, T] = normalise2dpts(pts) c = mean(pts(1:2,:)); % Centroid newp(1,:) = pts(1,:)-c(1); % Shift origin to centroid.