1 files changed, 19 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/stitch/src/matlab/ransac.m b/SD-VBS/benchmarks/stitch/src/matlab/ransac.m
new file mode 100755
index 0000000..4a3c364
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/ransac.m
@@ -0,0 +1,19 @@
+function [retH retPntsIdx]=ransac(pntsPrev, pntsCur, k, epsilon)
+[n temp]=size(pntsPrev);
+pntsPrev=[pntsPrev(:,1:2) ones(n,1)];
+pntsCur=[pntsCur(:,1:2) ones(n,1)];
+
+inlierIdx=cell(k,1);
+inlierNum=zeros(k,1);
+for i=1:k
+    seed=randperm(n);
+    H=calculateH(pntsPrev(seed(1:4),:), pntsCur(seed(1:4),:));
+    err=(pntsCur-transformH(H,pntsPrev));
+    inlierIdx{i}=find(sum(err(:,1:2).^2,2) < epsilon);
+    inlierNum=length(inlierIdx{i});
+end
+
+[v maxIdx]=max(inlierNum);
+retPntsIdx=inlierIdx{maxIdx};
+retH=calculateH(pntsPrev(retPntsIdx,:), pntsCur(retPntsIdx,:));
+