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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