geterrorvec

 GETERRORVEC returns the error for each point.

 GETERRORVEC contains the main error calculation function. The function is
 called by other function to analyse the error.
 
 USAGE:
 
 INPUTS:
     Lpts: 3xN vector containing all the laser board points.
 
     Nc: 3xN vector containing the corresponding normal vector.
 
     delta: 3x1 translation vector output by the calibration.
 
     phi: 3x3 rotation matrix output by the calibration.
 
 OUTPUTS:
     errorvec: 1xN vector representing the errors for each point.

0001 function errorvec=geterrorvec(Lpts,Nc,delta,phi)
0002 % GETERRORVEC returns the error for each point.
0003 %
0004 % GETERRORVEC contains the main error calculation function. The function is
0005 % called by other function to analyse the error.
0006 %
0007 % USAGE:
0008 %
0009 % INPUTS:
0010 %     Lpts: 3xN vector containing all the laser board points.
0011 %
0012 %     Nc: 3xN vector containing the corresponding normal vector.
0013 %
0014 %     delta: 3x1 translation vector output by the calibration.
0015 %
0016 %     phi: 3x3 rotation matrix output by the calibration.
0017 %
0018 % OUTPUTS:
0019 %     errorvec: 1xN vector representing the errors for each point.
0020 
0021 
0022 delta=delta(:); % make sure delta is a column vector
0023 npts=size(Lpts,2);
0024 
0025 % main error equation
0026 errorvec=dot(Nc,inv(phi)*Lpts+repmat(delta,[1,npts]))./sqrt(sum(Nc.^2))-sqrt(sum(Nc.^2));