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 [R] = Build3DRotationM(theta_x, theta_y, theta_z, order, FlagConv) |
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40 | |
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41 | % import right hand rotation rule on moving object point (left hand rule for moving axis) |
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42 | if nargin < 4 |
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43 | FlagConv = false; |
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44 | end |
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45 | |
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46 | if FlagConv |
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47 | theta_x = theta_x/180*pi; |
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48 | theta_y = theta_y/180*pi; |
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49 | theta_z = theta_z/180*pi; |
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50 | end |
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51 | |
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52 | Rx = [1 0 0; 0 cos(theta_x) -sin(theta_x); 0 sin(theta_x) cos(theta_x) ]; |
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53 | Ry = [ cos(theta_y) 0 sin(theta_y); 0 1 0; -sin(theta_y) 0 cos(theta_y) ]; |
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54 | Rz = [ cos(theta_z) -sin(theta_z) 0; sin(theta_z) cos(theta_z) 0; 0 0 1 ]; |
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55 | |
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56 | R = eye(3); |
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57 | for i = 1:3 |
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58 | if strcmp(order(i),'x') |
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59 | R = Rx*R; |
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60 | elseif strcmp(order(i),'y') |
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61 | R = Ry*R; |
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62 | elseif strcmp(order(i),'z') |
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63 | R = Rz*R; |
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64 | end |
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65 | end |
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66 | |
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67 | return; |
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68 | |
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