function [CDLTn, nIp, ndiff] = noisifyCDLT( CDLT, Sp, noiseF )%% CDLTn = noisifyCDLT( CDLT, Sp, noiseF )%% adds a random noise to the ideal CDLT matrix%% CDLT - 3 by 3 CDLT matrix% Sp - scene points coordinates of the coplanar calibration grid% noiseF - noise factor in percents (0 - 1)Ip = CDLT * hext( Sp )';Ip = hnorm( Ip' );[n m] = size( Ip );RM = noiseF * randn( n, m );nIp = Ip + RM;ndiff = nIp - Ip;PC(:,1:2) = Sp;PC(:,3:4) = nIp;CDLTn = estiCDLT( PC );