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 X = ThreeDPoints(F, s1, s2, pts1, pts2) |
---|
40 | % Computes the 3D location of point matches between 2 images. |
---|
41 | % (assuming the origin at camera1 and free scaling) |
---|
42 | % input: F - the fundamental matrix |
---|
43 | % s1 - the size of image 1 |
---|
44 | % s2 - the size of image 2 |
---|
45 | % pts1 - x,y coords of the matches in image1 |
---|
46 | % pts2 - x,y coords of the matches in image2 |
---|
47 | |
---|
48 | P{1} = eye(3, 4); |
---|
49 | P{2} = vgg_P_from_F(F); |
---|
50 | imsize = [s1' s2']; |
---|
51 | |
---|
52 | for i=1:size(pts1, 2) |
---|
53 | match = [pts1(:, i) pts2(:, i)]; |
---|
54 | temp = vgg_X_from_xP_lin(match, P, imsize); |
---|
55 | X(:, i) = temp(1:3)./temp(4); |
---|
56 | end |
---|
57 | |
---|
58 | |
---|