[37] | 1 | % * This code was used in the following articles:
|
---|
| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
|
---|
| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
|
---|
| 5 | % * (best paper)
|
---|
| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
|
---|
| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
| 8 | % * In ICCV workshop on Virtual Representations and Modeling
|
---|
| 9 | % * of Large-scale environments (VRML), 2007.
|
---|
| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
|
---|
| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
|
---|
| 13 | % * [6] Learning Depth from Single Monocular Images,
|
---|
| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
|
---|
| 16 | % *
|
---|
| 17 | % * These articles are available at:
|
---|
| 18 | % * http://make3d.stanford.edu/publications
|
---|
| 19 | % *
|
---|
| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
|
---|
| 21 | % * your reports that uses this code.
|
---|
| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
|
---|
| 23 | % * then please cite [2].
|
---|
| 24 | % *
|
---|
| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
|
---|
| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
|
---|
| 27 | % *
|
---|
| 28 | % * Finally, this code is for non-commercial use only. For further
|
---|
| 29 | % * information and to obtain a copy of the license, see
|
---|
| 30 | % *
|
---|
| 31 | % * http://make3d.stanford.edu/publications/code
|
---|
| 32 | % *
|
---|
| 33 | % * Also, the software distributed under the License is distributed on an
|
---|
| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
---|
| 35 | % * express or implied. See the License for the specific language governing
|
---|
| 36 | % * permissions and limitations under the License.
|
---|
| 37 | % *
|
---|
| 38 | % */
|
---|
| 39 | function []=Matches2ViewpointTransform(defaultPara, x1, x2, theta_hat, psi_hat, FlagDisp) |
---|
| 40 | |
---|
| 41 | % This function generate the possible viewpoints of each matches |
---|
| 42 | % after collecting all the possible viewpoints for all the matches |
---|
| 43 | % we can count the most frequent viewpoints as the estimated viewpoints |
---|
| 44 | |
---|
| 45 | % hope this approach will be robust to outlier and |
---|
| 46 | % the initial search Measured viewpoint theta_hat, psi_hat |
---|
| 47 | % will make this approach better than (ransac then EstPose) |
---|
| 48 | |
---|
| 49 | % restriction: |
---|
| 50 | % we assume 1) only one axis of rotation |
---|
| 51 | % 2) there is no height translation |
---|
| 52 | |
---|
| 53 | % Input: |
---|
| 54 | % 1) measured translation angel [cos(theta_hat) 0 sin(theta_hat)] = [x y z] ; y =0; |
---|
| 55 | % 2) measured rotation angle [ [ cos(psi_hat) 0 sin(psi_hat) ];... |
---|
| 56 | % [ 0 1 0 ];... |
---|
| 57 | % [ -sin(psi_hat) 0 cos(psi_hat) ]]; |
---|
| 58 | |
---|
| 59 | % Output: |
---|
| 60 | % ViewPoint : |
---|
| 61 | % [ psi .......;... |
---|
| 62 | % theta .....;...] |
---|
| 63 | % the third axis is number of matches |
---|
| 64 | |
---|
| 65 | % default paramter |
---|
| 66 | psi_range = 30/180*pi; |
---|
| 67 | psi_step = 0.1/180*pi; |
---|
| 68 | NumMatches = size(x1,2); |
---|
| 69 | |
---|
| 70 | % initialize variable |
---|
| 71 | psi = (psi_hat -psi_range):psi_step:(psi_hat + psi_range); |
---|
| 72 | NumSample = size(psi,2); |
---|
| 73 | |
---|
| 74 | % calculate corresponding theta for each psi |
---|
| 75 | theta = GenThetaFromPsi(x1, x2, psi); |
---|
| 76 | |
---|
| 77 | %ViewPoint = cat(3, psi, theta); |
---|
| 78 | |
---|
| 79 | % plot the 2D sample intensitiy figure |
---|
| 80 | if FlagDisp |
---|
| 81 | figure; |
---|
| 82 | hold on; |
---|
| 83 | scatter(reshape(repmat(psi,NumMatches,1), [], 1), theta(:), 3); |
---|
| 84 | end |
---|