1 | % * This code was used in the following articles:
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2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
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3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
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5 | % * (best paper)
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6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
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7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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8 | % * In ICCV workshop on Virtual Representations and Modeling
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9 | % * of Large-scale environments (VRML), 2007.
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10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
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11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
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13 | % * [6] Learning Depth from Single Monocular Images,
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14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
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16 | % *
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17 | % * These articles are available at:
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18 | % * http://make3d.stanford.edu/publications
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19 | % *
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20 | % * We request that you cite the papers [1], [3] and [6] in any of
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21 | % * your reports that uses this code.
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22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
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23 | % * then please cite [2].
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24 | % *
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25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
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26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
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27 | % *
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28 | % * Finally, this code is for non-commercial use only. For further
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29 | % * information and to obtain a copy of the license, see
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30 | % *
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31 | % * http://make3d.stanford.edu/publications/code
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32 | % *
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33 | % * Also, the software distributed under the License is distributed on an
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34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
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35 | % * express or implied. See the License for the specific language governing
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36 | % * permissions and limitations under the License.
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37 | % *
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38 | % */
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39 | function [ Rc, ConS, RoughConS]=Points2SqareConstrain( x, Height) |
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40 | |
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41 | % This function calculate the Sqare constrain given |
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42 | % Input: |
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43 | % 1) Two points |
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44 | % 2) Heights |
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45 | |
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46 | % Return: |
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47 | % Rc2 - (4 x length(x) : the 4 element of each column is the vectorized rotation matrix) |
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48 | % ConS - (4 x length(x)) |
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49 | % ConS([1 2],:) - reference corner for the constrain square (x y) |
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50 | % ConS([3],:) - sqare width along the epipolar line |
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51 | % ConS([4],:) - sqare height othorgonal to the epipolar line |
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52 | % RoughConS - (4 x length(x)) (not allow rotation) |
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53 | % RoughConS([1 2 3 4],:) - [xmax; xmin; ymax; ymin]; |
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54 | xMax = x(1:2,:); |
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55 | xMin = x(3:4,:); |
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56 | |
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57 | tRAN = xMax - xMin; |
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58 | Ptr = tRAN(1,:) < 0; |
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59 | theta_z = atan(tRAN(2,:)./tRAN(1,:)); |
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60 | theta_z(Ptr) = theta_z(Ptr)+pi; |
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61 | Rc = [cos(-theta_z); -sin(-theta_z); sin(-theta_z); cos(-theta_z)]; |
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62 | |
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63 | ConS(1:2,:) = xMin; |
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64 | ConS(3,:) = sum( Rc(1:2,:).*tRAN,1);% also may check sum( Rc(3:4,:).*tRAN,1) close up to zeros to verify correct or not (equal to norm(tRAN,2)) |
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65 | ConS(4,:) = Height; |
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66 | |
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67 | % generate plot point |
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68 | tempConS = [ ConS(3,:); ConS(4,:); ... |
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69 | zeros(1,size(ConS,2)); ConS(4,:);... |
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70 | zeros(1,size(ConS,2)); -ConS(4,:);... |
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71 | ConS(3,:); -ConS(4,:)]; |
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72 | Rc_transpose = [cos(theta_z); -sin(theta_z); sin(theta_z); cos(theta_z)]; |
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73 | tempConS(1:2,:) = [sum( Rc_transpose(1:2,:).*tempConS(1:2,:), 1); ... |
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74 | sum( Rc_transpose(3:4,:).*tempConS(1:2,:), 1)]; |
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75 | tempConS(3:4,:) = [sum( Rc_transpose(1:2,:).*tempConS(3:4,:), 1); ... |
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76 | sum( Rc_transpose(3:4,:).*tempConS(3:4,:), 1)]; |
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77 | tempConS(5:6,:) = [sum( Rc_transpose(1:2,:).*tempConS(5:6,:), 1); ... |
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78 | sum( Rc_transpose(3:4,:).*tempConS(5:6,:), 1)]; |
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79 | tempConS(7:8,:) = [sum( Rc_transpose(1:2,:).*tempConS(7:8,:), 1); ... |
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80 | sum( Rc_transpose(3:4,:).*tempConS(7:8,:), 1)]; |
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81 | tempConS = tempConS + repmat( xMin, 4, 1); |
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82 | |
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83 | % Rough ConS (not allow rotation) calculated from Plot Points |
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84 | RoughConS = [ min( tempConS([ 1 3 5 7],:), [], 1); max( tempConS([ 1 3 5 7],:), [], 1);... |
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85 | min( tempConS([ 2 4 6 8],:), [], 1); max( tempConS([ 2 4 6 8],:), [], 1)]; |
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86 | |
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87 | |
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88 | return; |
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