23 lines
517 B
Mathematica
23 lines
517 B
Mathematica
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clear;
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close all;
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load E_estimee;
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% Estimation de la pose (4 solutions) :
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[t_4,R_4] = estimation_4_poses(E_estimee);
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% Vérification :
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verification = zeros(1,4);
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for i = 1:4
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t = t_4(:,i);
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t_chapeau = [0 -t(3) t(2) ; t(3) 0 -t(1) ; -t(2) t(1) 0];
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R = R_4(:,:,i);
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matrice_verif = (t_chapeau*R)./E_estimee;
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verification(i) = abs(abs(prod(matrice_verif(:)))-1)<1e-2;
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end
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if prod(verification)
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fprintf('Vous avez tout bon : passez a l''exercice 2 !\n');
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else
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fprintf('Erreur : revoyez votre code, svp !\n');
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end
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