parameters: (wph, iph, T)
return_statement: return E[0,0]
docstring: computes error function E_os for given world, img points,
          and transform
docstring_summary: computes error function E_os for given world, img points,
          and transform
docstring_tokens: computes error function E_os for given world img points and transform
function: def eos(wph, iph, T):
      """ computes error function E_os for given world, img points,
          and transform"""
      V = V_from_v(iph)
      wp_trans = (T * wph.T)[0:3,:]
      I = np.matrix(np.eye(3))
      E = 0
      for i in range(0,wph.shape[0]):
          err = (I - V[i,:,:])*wp_trans[:,i]
          E = E + err.T*err
      return E[0,0]
function_tokens: def eos ( wph , iph , T ) : V = V_from_v ( iph ) wp_trans = ( T * wph . T ) [ 0 : 3 , : ] I = np . matrix ( np . eye ( 3 ) ) E = 0 for i in range ( 0 , wph . shape [ 0 ] ) : err = ( I - V [ i , : , : ] ) * wp_trans [ : , i ] E = E + err . T * err return E [ 0 , 0 ]