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 []=Visual2Coord(R,T); |
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40 | |
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41 | % This function plot the relation of the two coordinate |
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42 | |
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43 | % initial parameter |
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44 | Axis_length = 10; |
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45 | z_length = 50; |
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46 | |
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47 | % original |
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48 | center =zeros(3,1); |
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49 | top = Axis_length*[0 1 0]'; |
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50 | left = Axis_length*[1 0 0]'; |
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51 | front = z_length*[0 0 1]'; |
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52 | |
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53 | % transform |
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54 | Tcenter = center + T; |
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55 | Ttop = R*top + T; |
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56 | Tleft = R*left + T; |
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57 | Tfront = R*front + T; |
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58 | |
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59 | figure; |
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60 | scatter3([center(1) Tcenter(1)],[center(3) Tcenter(3)],[center(2) Tcenter(2)]); |
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61 | hold on; |
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62 | line([center(1) left(1)]', [center(3) left(3)]', [center(2) left(2)]', 'Color' ,'g'); |
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63 | line([Tcenter(1) Tleft(1)]', [Tcenter(3) Tleft(3)]', [Tcenter(2) Tleft(2)]', 'Color' ,'g'); |
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64 | line([center(1) top(1)]', [center(3) top(3)]', [center(2) top(2)]', 'Color' ,'r'); |
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65 | line([Tcenter(1) Ttop(1)]', [Tcenter(3) Ttop(3)]', [Tcenter(2) Ttop(2)]', 'Color' ,'r'); |
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66 | line([center(1) front(1)]', [center(3) front(3)]', [center(2) front(2)]', 'Color' ,'y'); |
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67 | line([Tcenter(1) Tfront(1)]', [Tcenter(3) Tfront(3)]', [Tcenter(2) Tfront(2)]', 'Color' ,'y'); |
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68 | axis equal; |
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