[37] | 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 T] = InitPoseMeas(defaultPara, ImgInfo1, ImgInfo2); |
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| 40 | |
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| 41 | % This function establish the Pose(Rotation, Translation) |
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| 42 | % from the initial measured data (GPS and Compass) |
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| 43 | % Input: |
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| 44 | % defaultPara - camera intrinsic matrix is used |
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| 45 | % ImgInfo - all info of image |
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| 46 | % Return: |
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| 47 | % R - [R1_2; R2_1] stack rotation matrix of (R1_2) convert local coordinate of image 1 to 2, visa versa |
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| 48 | % T - [T2; T1] stack translation matrix of (T2) translation under local coordinate of image 2, visa versa |
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| 49 | |
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| 50 | % Notice Two Step rotation correctio |
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| 51 | if ~isfield(ImgInfo1,'Rw') || ~isfield(ImgInfo2,'Rw') || ~isfield(ImgInfo1,'Geo') || ~isfield(ImgInfo2,'Geo') |
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| 52 | R = []; |
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| 53 | T = []; |
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| 54 | return; % retrun empty POSE if no Pre Acquire info |
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| 55 | end |
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| 56 | R1_world = Build3DRotationM( ImgInfo1.Rw(2), -ImgInfo1.Rw(1), -ImgInfo1.Rw(3),{'x','y','z'},true)'; |
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| 57 | Rworld_2 = Build3DRotationM( ImgInfo2.Rw(2), -ImgInfo2.Rw(1), -ImgInfo2.Rw(3),{'x','y','z'},true); |
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| 58 | |
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| 59 | % 1) R and T for 1_2 |
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| 60 | [X1_2]=World2LocalCoord(defaultPara, ImgInfo1.X_world, ImgInfo2.Geo, ImgInfo2.Rw); |
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| 61 | [X2_2]=World2LocalCoord(defaultPara, ImgInfo2.X_world, ImgInfo2.Geo, ImgInfo2.Rw); |
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| 62 | T2 = (X1_2 - X2_2); |
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| 63 | R1_2 = Rworld_2*R1_world; |
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| 64 | % R1_2_old = Build3DRotationM(-(ImgInfo1.Rw(2)-ImgInfo2.Rw(2)),0,0,{'x','y','z'},true); |
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| 65 | |
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| 66 | % Important!! permute the entry of T and R according to the image homogeous coordinate |
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| 67 | T2 = T2([2 1 3]); |
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| 68 | R1_2 = R1_2(:,[2 1 3]); |
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| 69 | R1_2 = R1_2([2 1 3],:); |
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| 70 | |
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| 71 | % 2) R and T for 2_1 |
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| 72 | [X2_1]=World2LocalCoord(defaultPara, ImgInfo2.X_world, ImgInfo1.Geo, ImgInfo1.Rw); |
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| 73 | [X1_1]=World2LocalCoord(defaultPara, ImgInfo1.X_world, ImgInfo1.Geo, ImgInfo1.Rw); |
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| 74 | T1 = (X2_1- X1_1); |
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| 75 | R2_1 = R1_world'*Rworld_2'; |
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| 76 | % R2_1_old = Build3DRotationM(-(ImgInfo2.Rw(2)-ImgInfo1.Rw(2)),0,0,{'x','y','z'},true); |
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| 77 | |
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| 78 | % Important!! permute the entry of T and R according to the image homogeous coordinate |
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| 79 | T1 = T1([2 1 3]); |
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| 80 | R2_1 = R2_1(:,[2 1 3]); |
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| 81 | R2_1 = R2_1([2 1 3],:); |
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| 82 | |
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| 83 | % stack |
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| 84 | R = [R1_2; R2_1]; |
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| 85 | T = [T2; T1]; |
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| 86 | return; |
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