F_Test_dh_dy.m

%-----------------------------------------------------------------------
% 1-point RANSAC EKF SLAM from a monocular sequence
%-----------------------------------------------------------------------

% Copyright (C) 2010 Javier Civera and J. M. M. Montiel
% Universidad de Zaragoza, Zaragoza, Spain.

% This program is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation. Read http://www.gnu.org/copyleft/gpl.html for details

% If you use this code for academic work, please reference:
%   Javier Civera, Oscar G. Grasa, Andrew J. Davison, J. M. M. Montiel,
%   1-Point RANSAC for EKF Filtering: Application to Real-Time Structure from Motion and Visual Odometry,
%   to appear in Journal of Field Robotics, October 2010.

%-----------------------------------------------------------------------
% Authors:  Javier Civera -- jcivera@unizar.es 
%           J. M. M. Montiel -- josemari@unizar.es

% Robotics, Perception and Real Time Group
% Arag�n Institute of Engineering Research (I3A)
% Universidad de Zaragoza, 50018, Zaragoza, Spain
% Date   :  May 2010
%-----------------------------------------------------------------------

function FRes = F_Test_dh_dy( y,  Xv_km1_k, cam, y0 )

h0 = hi_inverse_depth( y0, Xv_km1_k(1:3),q2r(Xv_km1_k(4:7)), cam);

nCols = size( y, 2 );
FRes = zeros( 2, nCols );

for j = 1:nCols
   FRes( :, j ) = hi_inverse_depth( y( :, j ), Xv_km1_k(1:3),q2r(Xv_km1_k(4:7)), cam ) - h0;
end

return