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value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | PavelTrutman/FocalNet-master | GenerateScene.m | .m | FocalNet-master/deepag/bin/deepag/scene_generator/GenerateScene.m | 18,268 | utf_8 | f640d62115e37ee13f5a3f19d409c706 | % 16.nov.2008 - pridany noise pre kazdu kameru separe
% 20.5.2009 - rozne radial distortion modely
% last update 22.oct.2008
%
%
% synthetic scene generator
% by Martin Bujnak, Jan2006
% function [P M m mnoiseless npoints] = GenerateScene(npoints, radius, ncams, minz, maxz, noutliers, anoise, camcalib, sceneType, poin... |
github | PavelTrutman/FocalNet-master | ShowCameras.m | .m | FocalNet-master/deepag/bin/deepag/scene_generator/ShowCameras.m | 2,884 | utf_8 | 98158ff32948acac4930afa34ab19275 | % show camera and 3D content
%
% by Martin Bujnak
% Pgt - 3x4 matrices in cell array
% Kgt - 3x3 calibration matrices in cell array (or single K for all equal)
% m - cells with 3xN arra of 2D points
% Mgt - 3xN array of 3D points
%
% show2D - show figures with reprojections of 3D points to 2D
% showMotion - display ... |
github | PavelTrutman/FocalNet-master | SetLookAt.m | .m | FocalNet-master/deepag/bin/deepag/scene_generator/SetLookAt.m | 602 | utf_8 | cff974370e67e3a658f4c86543d9a951 | % Matlab code by Zuzana Kukelova 2006-01-10
% Generate camera matrix
% From MartinB
% Input: pos - Position of Camera
% at - Look at - point on which is camera looking at
% up - Up vector
% Output: Camera = normalized camera matrix K^-1*P = [R | t]
function P = SetLookAt(pos, at, up)
%di... |
github | PavelTrutman/FocalNet-master | E5ptResImPoints.m | .m | FocalNet-master/deepag/bin/lib/geometry/E5ptResImPoints.m | 416 | utf_8 | d051cbfe6ae3a5453771a202b3ee611f | % y = E5ptResImPoints(x) - 5pt Minimal Relative Pose of Two Cameras - ransac residual evaluation data selection
%
% x = struct
% x.x = [x1;x2] ... stacked homogeneous coordinates of image matches
% x.iK = [iK1;iK2] ... stacked inverses of camera calibration matrices (jssumes triangular iKk)
% y = x.x
... |
github | PavelTrutman/FocalNet-master | null3x3r2.m | .m | FocalNet-master/deepag/bin/lib/geometry/null3x3r2.m | 640 | utf_8 | 18e68131fa92ac5bd6d3590494850e3e | % N = null3x3r2(A) - Null space of 3x3 matrix A of rank 2 (faster than null)
%
% A = 3x3 real matrix
% N = null space, i.e. A*N = 0
% pajdla@cmp.felk.cvut.cz
function N = null3x3r2(A)
A = A/max(abs(A(:))); %faster than sqrt(sum(A(:).^2)); % normalize A
N = [+A(1,2)*A(2,3)-A(1,3)*A(2,2) +A(2,2)*A(3,3)-A(2,3)... |
github | PavelTrutman/FocalNet-master | plotCam.m | .m | FocalNet-master/deepag/bin/lib/geometry/plotCam.m | 319 | utf_8 | 328b85ea2690306cac899c12620fde91 | % h = plotCam(P or K,R,T) - plot camera
%
% P or K,R,T ... 3x4 or 3x3 camera matrices
% h ... plot handles
% (c) T.Pajdla, www.neovision.cz, Sept 14, 2007
function h = plotCam(K,R,T)
if ~isempty(K)
if nargin>2
K = [K*R -K*R*T];
end
h = camplot(K);
else
h = [];
end
|
github | PavelTrutman/FocalNet-master | r2q.m | .m | FocalNet-master/deepag/bin/lib/geometry/r2q.m | 552 | utf_8 | 77212392ae8f415cf9a38d15567b17bd | % q = r2q(R) - rotation matrix to unit quaternion
%
% R = 3 x 3 rotation matrix (rotation matrix in a 4 x 4 hom transformation)
% q = unit quaternion
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2001-03-12
function q = r2q(R)
R = R(1:3,1:3);
c = trace(R)+1;
if abs(c)<10000*eps % 180 degrees
S = R+eye(3);
... |
github | PavelTrutman/FocalNet-master | uu2PPXRFit.m | .m | FocalNet-master/deepag/bin/lib/geometry/uu2PPXRFit.m | 8,948 | utf_8 | de4196c61e95e26ea059c668a30356d1 | % [P,X,in,e,F,u] = uu2PPXRFit(u,K,op,debug) - calibrated reconstruction from two images
%
% u = {u1, u2} with u1, u2 2 x n image projection matrices
% K = {K1, K2} with 3 x 3 camera calibration matrices
% op = parameters
%
% RANSAC (see ransacfit with E5ptNister model):
% op.maxres = 2*sN; % maximal r... |
github | PavelTrutman/FocalNet-master | uL2rdres.m | .m | FocalNet-master/deepag/bin/lib/geometry/uL2rdres.m | 1,479 | utf_8 | f07a6d6f2081abe928103ab89666e481 | % [e, z] = uL2rdres(p,R,u,L) - radial distortion estimation from lines - residuals
%
% R ... radial distortion model, see ur2u
% p ... [c(1) c(2) p] ... model parameters, see ur2u
% u ... u{i} = 2 x n projections of the i-th target
% L ... L{i}{j} = indices of points lying on a stright line in t... |
github | PavelTrutman/FocalNet-master | a2h.m | .m | FocalNet-master/deepag/bin/lib/geometry/a2h.m | 216 | utf_8 | 6909b5965dddb71da2c8c94be780084a | % X = a2h(x [,w]) - affine to homogeneous coordinates
%
% X = [x; 1 1 1 ...]
% (c) T.Pajdla, www.neovision.cz, Sep 10, 2004
function X = a2h(x,w)
if nargin<2
w = 1;
end
X = [x;w.*ones(1,size(x,2))]; |
github | PavelTrutman/FocalNet-master | X2u.m | .m | FocalNet-master/deepag/bin/lib/geometry/X2u.m | 6,200 | utf_8 | a96ff4397f732aa1c4e351c9f611b511 | % [u,z] = X2u(X,C) - perspective projection
%
% X ... 3(4) x n space points, 3 -> 1's augmented
% C ... camera description
% C.type ... camera type:
%
% 'P' - C - 3 x 4 camera projection matrix
% 'KRC' -
% [1/bx s/f u0/f] - internal calibration matrix
% C.K = [0 1... |
github | PavelTrutman/FocalNet-master | p3Dfit.m | .m | FocalNet-master/deepag/bin/lib/geometry/p3Dfit.m | 579 | utf_8 | 3b356d89d8afce574b4733db66c2130d | % [l,r] = p3Dfit(y) - Plane fit
% y ... 3 x n points
% l ... 4 x 1 plane coordinates
% r ... 1 x n residuals
% z ... 6 x n [the closest points z on the line; y]
% See p3Dres
% (c) T.Pajdla, pajdla@cvut.cz, 2015-01-03
function [p,r,z] = p3Dfit(y,~)
my = mean(y,2);
z = y - my*ones(1,size(y,2));
... |
github | PavelTrutman/FocalNet-master | E5ptFitImPoints.m | .m | FocalNet-master/deepag/bin/lib/geometry/E5ptFitImPoints.m | 512 | utf_8 | eae55593c446180aa7e0c52c74ae4a4f | % y = E5ptFitImPoints(x) - 5pt Minimal Relative Pose of Two Cameras - ransac calibrated fit data computation
%
% x = struct
% x.x = [x1;x2] ... stacked homogeneous coordinates of image matches
% x.iK = [iK1;iK2] ... stacked inverses of camera calibration matrices (assumes triangular iKk)
% y = [iK1*x.x... |
github | PavelTrutman/FocalNet-master | H4xP2P.m | .m | FocalNet-master/deepag/bin/lib/geometry/H4xP2P.m | 5,213 | utf_8 | 9579d5abf8db4c4794471b8f67beded7 | % [H,e] = H4xP2P(P1,P2[,op]) - Matrix H fitting external orientation of cameras P1 to cameras P2
%
% P1, P2 = celarray (or matrices) of 3x4 rank 3 projection matrix
% H = 4x4 matrix sich that P2{:} ~ P1{:}*H
% e = residual error
% op = options
% '1stto1st' = exact fit for the first cameras
% 'fitCf... |
github | PavelTrutman/FocalNet-master | l2Dres.m | .m | FocalNet-master/deepag/bin/lib/geometry/l2Dres.m | 260 | utf_8 | a7b7f5782c12dbc41c5ac06c2ffbc07c | % r = l2Dres(l,y) - Line residuals
% y ... 2 x n points
% l ... 3 x 1 line coordinates
% r ... 1 x n residuals
%
% See l2Dfit
% (c) T.Pajdla, www.neovision.cz, Sep 14, 2005
function r = l2Dres(l,y,p1,p2)
r = l'*[y ; ones(1,size(y,2))];
return |
github | PavelTrutman/FocalNet-master | r2c.m | .m | FocalNet-master/deepag/bin/lib/geometry/r2c.m | 331 | utf_8 | b016d12e6a110284977bfc6d3acd394b | % c = r2c(R) - rotation matrix to Cayley representation
%
% R = 3 x 3 rotation matrix (rotation matrix in a 4 x 4 hom transformation)
% c = Caylay representation [c1,c2,c3]
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2016-03-22
function c = r2c(R)
R = R(1:3,1:3);
C = (eye(3)-R)*inv(eye(3)+R);
c = [C(3,2);C(1,... |
github | PavelTrutman/FocalNet-master | ur2u.m | .m | FocalNet-master/deepag/bin/lib/geometry/ur2u.m | 4,635 | utf_8 | 0656333713c81a18f96c0411bbb10fbd | % [x,r,c,K] = ur2u(u,R) - radial distorion correction
%
% u ... 2 x n image points
% R ... radial distortion descriptor
%
% if a structure:
%
% R.x0 ... 2 x 1 distortion center ([0;0] implicit if field r.x0 missing)
% R.p ... 1 x k ... k radial distortion coefficients
% R.m ... m... |
github | PavelTrutman/FocalNet-master | a2r.m | .m | FocalNet-master/deepag/bin/lib/geometry/a2r.m | 354 | utf_8 | 2d82ac9f5936e94d9e5867ab1c8a1f47 |
% R = a2r(v,a) - rotation matrix from axis-angle representation
%
% v = rotation axis
% a = angle [rad] or [cos(a) sin(a)]
% R = 3 x 3 rotation matrix
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2016-03-21
function R = a2r(v,a)
v = v/vnorm(v);
if numel(a)<2
a = [cos(a) sin(a)];
end
R = a(1)*eye(... |
github | PavelTrutman/FocalNet-master | camfulcrum.m | .m | FocalNet-master/deepag/bin/lib/geometry/camfulcrum.m | 1,247 | utf_8 | 87aabff7b8d9bc104094f3be133c2cf2 | % [X,L] = camfulcrum(P,z1,z2) - perspective camera fulcrum
%
% P = 3x4 perspective camea projection matrix P = K*R*[I|-C] with rotation R, pose C and
%
% [1/bx s/f u0/f]
% K = [0 1/by v0/f]
% [0 0 1/f]
%
% determining the camera coordinate system \beta.
% z1, z2 = ... |
github | PavelTrutman/FocalNet-master | qdiag.m | .m | FocalNet-master/deepag/bin/lib/geometry/qdiag.m | 915 | utf_8 | 10f841b32a35d6552960e0277a9df45f | % [D,H] = qdiag(Q[,s]) - quadric diagonalization
%
% Q ... 4x4 quadric
% s ... 0 or missing = diagonalization by an orthonormal H
% 1 = diagonalization by a Euclidean transform
% H = [R T; 0 0 0 1], R orthonormal
% R is chose such that x,y,z coordinates ... |
github | PavelTrutman/FocalNet-master | P3PSolverFitImPoints.m | .m | FocalNet-master/deepag/bin/lib/geometry/P3PSolverFitImPoints.m | 383 | utf_8 | 6a1babd52f9f9e7fb4380dfc3d81dc26 | % y = P3PSolverFitImPoints(x) - 3pt Minimal Absolute Camera Pose - ransac calibrated fit data computation
%
% x = struct
% x.x = homogeneous coordinates of image matches
% x.iK = inverse of camera calibration matrix
% y = iK*x.x
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-07-11
function y = P3PSolve... |
github | PavelTrutman/FocalNet-master | xy2R.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2R.m | 330 | utf_8 | 9c5a9c682fdb4706410dc0c99b978918 | % R = xy2R(x,y) - 2D rotation matrix R s.t. y = R x
%
% x,y ... column vectors
% R ... rotation matrix s.t. y = R x
% (c) T. Pajdla, pajdla@neovision.cz
% 13 Aug 2007
function R = xy2R(x,y)
x = x*diag(1./vnorm(x));
y = y*diag(1./vnorm(y));
R = [ x'*y [-y(2) y(1)]*x
-[-y(2) y(1)]*x ... |
github | PavelTrutman/FocalNet-master | q2Dres.m | .m | FocalNet-master/deepag/bin/lib/geometry/q2Dres.m | 5,086 | utf_8 | a449b0b554aeb40e00496c650b175448 | % [r,y,w] = q2Dres(Q,x[,s,dbgPath]) - Conic residuals
%
% Q ... 3 x 3 conic matrix
% x ... 2 x n points
% s ... [n d] - iteration stops if it>n or no point moves more
% than d fraction of its distance ([10 0.01] implicitly)
% 0 < n < 1 ... for each x: angle(y-x,normal(y)) < n*360 degrees
% ... |
github | PavelTrutman/FocalNet-master | camfulscup.m | .m | FocalNet-master/deepag/bin/lib/geometry/camfulscup.m | 1,465 | utf_8 | 0a3966be9380f7bb3da9fc7b31a7a9e5 | % [X,X1,X2] = camfulscup(P1,z1,P2,z2,[,tol,quick]) - perspective camera fulcra intesection
%
% P1, P2 = 3x4 perspective camea projection matrix P = K*R*[I|-C] with rotation R, pose C and
%
% [1/bx s/f u0/f]
% K = [0 1/by v0/f]
% [0 0 1/f]
%
% determining the camera c... |
github | PavelTrutman/FocalNet-master | u2L.m | .m | FocalNet-master/deepag/bin/lib/geometry/u2L.m | 2,170 | utf_8 | ed8aa0cc2b4b072dda6558b4c785b3c4 | % [L,LL] = u2L(u,C) - perspective back-projection
%
% u ... 2(3) x n image points, 2 -> 1's augmented
% C ... camera C = P \in R^{3 x 4} or
% C.K ... internal calibration matrix
% C.E ... camera euclidean coordinate system transformation
% C.rp ... [a] parameter of the r... |
github | PavelTrutman/FocalNet-master | xonY.m | .m | FocalNet-master/deepag/bin/lib/geometry/xonY.m | 457 | utf_8 | b001959ff7dd27cbc8cddf23cae771d3 | % [y,z] = xonY(x,Y) - projection of x on subspace generated by columns of Y
%
% x = a column
% Y = matrix of generators in its columns
% y = projeciton of x to the space generated by columns of Y
% z = x-y, i.e. the (y,z) is the ortogonal decomposition of x by Y
% T. Pajdla, pajdla@cmp.felk.cvut.cz
function [... |
github | PavelTrutman/FocalNet-master | q2r.m | .m | FocalNet-master/deepag/bin/lib/geometry/q2r.m | 475 | utf_8 | ca9e737f89aaa87d58543310e9a73997 | % R = q2r(q) - rotation matrix to unit quaternion
%
% q = unit quaternion
% R = 3 x 3 rotation matrix
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2001-03-12
function R = q2r(q)
q = q/vnorm(q);
R = [q(1)^2+q(2)^2-q(3)^2-q(4)^2 2*(q(2)*q(3)-q(1)*q(4)) 2*(q(2)*q(4)+q(1)*q(3))
2*(q(2)*q(3)+q(1)*q(4)... |
github | PavelTrutman/FocalNet-master | CAHV2KRC.m | .m | FocalNet-master/deepag/bin/lib/geometry/CAHV2KRC.m | 566 | utf_8 | a128ccdc821bfa4573d5b924a9542c5e | % [K,R,C] = CAHV2KRC(c) - CAHV to KRC camera model conversion
%
% c = CAHV camera model
% c.C, c.A, c.H, c.V, c.b, c.type = 'CAHV', see X2u.m
% K, R, C = KRC camera matrices, see X2u.m
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-07-12
function [K,R,C] = CAHV2KRC(c)
hc = c.A'*c.H;
vc = c... |
github | PavelTrutman/FocalNet-master | l2DresCnstrSeg.m | .m | FocalNet-master/deepag/bin/lib/geometry/l2DresCnstrSeg.m | 560 | utf_8 | e2a1d4024b6ad1bb2de33e9bf9004637 | % r = l2DresCnstrSeg(l,y,c) - Line residuals
% y ... 2 x n points
% l ... 3 x 1 line coordinates
% c ...[x1 x2], such that x1 resp. x2 is on the left resp. right
% from the line
% r ... 1 x n residuals, Inf if constraints are not met
%
% See l2Dfit
% (c) T.Pajdla, www.ne... |
github | PavelTrutman/FocalNet-master | l2Dfit.m | .m | FocalNet-master/deepag/bin/lib/geometry/l2Dfit.m | 1,207 | utf_8 | 14ad82170725035dad9fe0c837dd5aea | % [l,r] = l2Dfit(y) - Line fit
% y ... 2 x n points
% l ... 3 x 1 line coordinates
% r ... 1 x n residuals
% z ... 4 x n [the closest points z on the line; y]
% See l2Dres
% (c) T.Pajdla, www.cvut.cz, 2016-08-08
function [l,r,z,C] = l2Dfit(y,~,dbg)
if nargin>0
if nargin<3
dbg = false;
en... |
github | PavelTrutman/FocalNet-master | e3fit.m | .m | FocalNet-master/deepag/bin/lib/geometry/e3fit.m | 5,993 | utf_8 | 2d9b983d361d43687cd2922e69c94f61 | %E3FIT Pajdla: Finds E(3) transformation minimizing LMSq/LSQ distance between two data sets
%
%
% function [E,Ve,rW,res,rs,rres,dX,s] = e3fit(X1,X2,W,mode,par)
%
% X1,X2 = two registered cloud of 3-D points, one point ~ one row
% W = a vector of weights, if missingt, ones are used
% mode = 0 or mis... |
github | PavelTrutman/FocalNet-master | sphp2x.m | .m | FocalNet-master/deepag/bin/lib/geometry/sphp2x.m | 410 | utf_8 | 5143c54d38ccb52c4fe7dc8ca86ceffd | % x = sphs2x(p) - Spherical parametrization of a unit vector to the unit vector
%
% sphs2x(p) = [cos(p(end))*sphs2x(p(1:end-1)) sin(p(end))]
%
% p ... n-1 x 1 matrix [radians]
% x ... n x 1 matrix
%
% See also X2SPHS
% (c) T.Pajdla, www.neovision.cz, Nov 1 2005
function x = sphs2x(p)
x = zeros(length... |
github | PavelTrutman/FocalNet-master | xy2T.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2T.m | 2,630 | utf_8 | 54c39e51f37cb2f5da1b7d8d859822fa | % T = xy2T(x,y,tr) - 2D point registration transforms
%
% tr ... 'E' ~ euclidean
% x(:,1) -> y(:,1) & dir(x(:,1),x(:,2)) -> dir(y(:,1),y(:,2))
% ... 'S' ~ similarity
% x(:,1) -> y(:,1) & x(:,2) -> y(:,2)
% ... 'A' ~ affine
% x(:,1) -> y(:,1) & x(:,2) -> y(:,2) & x(:... |
github | PavelTrutman/FocalNet-master | uu2F.m | .m | FocalNet-master/deepag/bin/lib/geometry/uu2F.m | 5,112 | utf_8 | 24c54c017a95be671e6e066bcb8f4133 | % [F,A] = uu2F(u[,mth]) - Fundamental matrix computation
%
% u = {u1 u2}, image matches u2'*F*u1 = 0
% mth = method ({'HZ','Free'} implicit)
% mth{1} = normalization
% 'None' = no normalization
% 'HZ' = full affine as in HZ-2003
% '[-1,1]' = ranges of points are scal... |
github | PavelTrutman/FocalNet-master | uu2X.m | .m | FocalNet-master/deepag/bin/lib/geometry/uu2X.m | 13,808 | utf_8 | 3cf96290b32f8d0575e0f1ced4ffc081 | % [X,v,z,e,a] = uu2X(u,P,m) - optimal point reconstruction from projections
%
% u = image matches [[u1;v1;...;u2;v2;...] ...]
% P = projection matrices [P1;P2;...]
% X = optimal reconstruction of points minimizing the sum of squared reprojection errors
% v = optimal projection of X
% z = 2 x n z coordinates of p... |
github | PavelTrutman/FocalNet-master | vnorm.m | .m | FocalNet-master/deepag/bin/lib/geometry/vnorm.m | 175 | utf_8 | 88fafc45408a22c887c1d51518407815 | % n = vnorm(x) - columnwise vector 2 norm
%
% n = sqrt(sum(x.^2))
% (c) T.Pajdla, cmp.felk.cvut.cz, May 2 2006
function n = vnorm(x)
n = sqrt(sum(x.^2));
return
|
github | PavelTrutman/FocalNet-master | uL2rd.m | .m | FocalNet-master/deepag/bin/lib/geometry/uL2rd.m | 1,894 | utf_8 | f716b76a0390252448a5e76032ea98be | % [R,x,e,z] = uL2rd(u,L,R,rc,opts) - radial distortion estimation from lines
%
% u ... u{i} = 2 x n projections if the i-th target
% L ... L{i}{j} = indices of points lying on a stright line in the tartget
% R ... radial distortion descriptor, see u2ru
% R.x0 ... 2 x 1 distortion center ([0;0] implicit if... |
github | PavelTrutman/FocalNet-master | uu2PPXRFit_testing_Robert.m | .m | FocalNet-master/deepag/bin/lib/geometry/uu2PPXRFit_testing_Robert.m | 8,840 | utf_8 | e1fc8db40de071852fa41acfeb73c408 | % [P,X,in,e,F,u] = uu2PPXRFit(u,K,op,debug) - calibrated reconstruction from two images
%
% u = {u1, u2} with u1, u2 2 x n image projection matrices
% K = {K1, K2} with 3 x 3 camwra calibration matrices
% op = parameters
%
% RANSAC (see ransacfit with E5ptNister model):
% op.maxres = 2*sN; % maximal residual... |
github | PavelTrutman/FocalNet-master | XY2rot.m | .m | FocalNet-master/deepag/bin/lib/geometry/XY2rot.m | 422 | utf_8 | 2e3b32725d44d47dfce60e43e4b4d6d6 | % R = XY2rot(X1,X2) - optimal rotation registration
%
% R = arg min ||X2 - r*X1||
%
% X1 ... 3 x n points
% X2 ... 3 x n points
% R ... 3 x 3 rotation
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-08-09
function R = XY2rot(X1,X2)
% direction correlation matrix
K = zeros(3,3);
for i=1:size(X1,2)
... |
github | PavelTrutman/FocalNet-master | uX2PRFit.m | .m | FocalNet-master/deepag/bin/lib/geometry/uX2PRFit.m | 1,653 | utf_8 | a71375a63cb71eaa238b973df470a094 | % [P,in,e] = uX2PRFit(u,X,C,op) - Absolute camera pose from one image
%
% u = 2 x n image projections
% C = camera calibration structure, see X2u.m
% op = parameters
% RANSAC (see, e.g. ransacfit with P4ptP4Pf model):
% op.maxres = 2*sN; % maximal residual in pixels = 2*max image noise
% op.smpls... |
github | PavelTrutman/FocalNet-master | prec.m | .m | FocalNet-master/deepag/bin/lib/geometry/prec.m | 4,750 | utf_8 | b953838208bafe60092291b85633baa0 | %PREC Pajdla: Projective reconstruction from correspondences
%
% function [X,M1,M2,dx] = prec(u,[K1,K2,E1,E2])
%
% u = correspondences in the format [u1 ; v1 ; u2 ; v2]
% K1,K2 = camera calibration matrices, 3x3 matrices
% E1,E2 = camera positions, 4x4 matrices repr. an Euclidean
% ... |
github | PavelTrutman/FocalNet-master | Hctr.m | .m | FocalNet-master/deepag/bin/lib/geometry/Hctr.m | 636 | utf_8 | 753302a6b216b66f5a9d6cc0dcbd3e92 | % A = Hctr(H,x) - Homography mapping covariance trannsformation for point x
%
% H ... 3 x 3 homography matrix
% x ... (3)2 x 1 2D point
% A ... 2 x 2 transformation matrix
%
% e_x' * inv(C_x) * e_x = I and e_y' * inv(C_y) * e_y = I
%
% C_y = T * C_x * T'
% (c) T.Pajdla, www.neovision.cz, N... |
github | PavelTrutman/FocalNet-master | imHim.m | .m | FocalNet-master/deepag/bin/lib/geometry/imHim.m | 6,389 | utf_8 | 11114e0edf1563c6c5978d3edf9c6244 | % [io,A,ri,ro,roi,xi,xo,xoi] = imHim(im,H[,rs,rc]) - Homography mapping of an image
%
% H ... 3 x 3 homography matrix w.r.t. coordinates [col row 1]
% im ... input image
% rs ... resolution = number of pixels for the smallest size of the output bounding box
% rc ... [cmin cmax rmin rmax] rectangle (full image implicit... |
github | PavelTrutman/FocalNet-master | uX2P.m | .m | FocalNet-master/deepag/bin/lib/geometry/uX2P.m | 9,346 | utf_8 | 927e1cc656613311b1d511a78ba46b7c | % [P,e,T] = uX2P(u,X[,cType,E,T]) - camera projection matrix P from 3D points X and their projections u
%
% cType = 'perspective' (implicit) or 'affine' ... estimates the standard cameras
%
% u ... 3 x n image points, affine coords for finite points
% X ... 4 x n homogeneous coordinat... |
github | PavelTrutman/FocalNet-master | xy2dXres.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2dXres.m | 472 | utf_8 | 28f96a4d1b8767b371da3491af066ce0 | % [e,J] = xy2dXres(x,y,H) - Target points homography residuals
%
% x ... 2 x 1 2D target point
% y{i} ... i-th view 3 x n 2D points
% H{i} ... i-th view homography
% e ... residuals
% (c) T.Pajdla, www.neovision.cz, Feb 2 2006
function e = xy2dXres(x,y,H)
for i=1:length(H)
% 'y-y' error: e{i}... |
github | PavelTrutman/FocalNet-master | qfit.m | .m | FocalNet-master/deepag/bin/lib/geometry/qfit.m | 889 | utf_8 | 48f44015f310335e632617e23b126bb4 | % [Q,e] = Qfit(X) - LSQ Quadric fit
%
% X ... 3xN points
% Q ... 4x4 quadric
% e ... residuals
% (c) T.Pajdla, www.neovision.cz, Oct 25, 2004
function [Q,e] = Qfit(X)
% B = [eye(3)/s -X0;0 0 0 1]
% Y = B*X
X0 = mean(X')';
Y = X-X0*ones(1,size(X,2));
s = std(sqrt(sum(Y.*Y)));
Y = Y/s;
B = [eye(3... |
github | PavelTrutman/FocalNet-master | H4P2I0.m | .m | FocalNet-master/deepag/bin/lib/geometry/H4P2I0.m | 365 | utf_8 | 7a8e6943e52b667b83e6b68426895f81 | % H = H4P2I0(P) - Matrix H transforming 3x4 camer matrix P of a finite cameras into [I|0]=P*H
%
% P = 3x4 rank 3 projection matrix
% H = 4x4 matrix H(4,:)=[0 0 0 1] sich that [I|0]=P*H
% T.Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-08-23
function H = H4P2I0(P)
if rank(P(:,1:3))>2
H = [P(:,1:3)\[eye(3) -P(... |
github | PavelTrutman/FocalNet-master | p3Dres.m | .m | FocalNet-master/deepag/bin/lib/geometry/p3Dres.m | 256 | utf_8 | cc8f4f0afb4880ec844cec0a3edc8b63 | % r = p3Dres(l,y) - Plane residuals
% y ... 3 x n points
% l ... 4 x 1 plane coordinates
% r ... 1 x n residuals
%
% See p3Dfit
% (c) T.Pajdla, pajdla@cvut.cz, 2015-01-03
function r = p3Dres(p,y,~,~)
r = p'*[y ; ones(1,size(y,2))];
return |
github | PavelTrutman/FocalNet-master | P2KRC.m | .m | FocalNet-master/deepag/bin/lib/geometry/P2KRC.m | 603 | utf_8 | 8151a12dbddba13e3a8e6157d6639e34 | % [K,R,C] = P2KRC(P) - Camera matrix P decomposition to K, R, C: P = K*R*[I -C]
%
% P = camera calibration matrix ; size = 3x4
% K = matrix of internal camera parameters
% R = rotation matrix
% C = camera center
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-08-26
function [K,R,C] = P2KRC(P)... |
github | PavelTrutman/FocalNet-master | ux2rdcres.m | .m | FocalNet-master/deepag/bin/lib/geometry/ux2rdcres.m | 2,020 | utf_8 | 6b700971ea97067934fc4af59d8711bd | % e = ux2rdcres(c,u,x) - radial distortion center estimation residuals
%
% u ... u{i} = 2 x n projections of the i-th target
% x ... x{i} = 2 x n calibration taget points
% c ... 2 x 1 distortion center
% e ... distance of x mapped by the best homography from the lines
% l = [c]_x u
%... |
github | PavelTrutman/FocalNet-master | uPXBA.m | .m | FocalNet-master/deepag/bin/lib/geometry/uPXBA.m | 65,666 | utf_8 | e8abcb597105c4b1dbfd1845c1af4b40 | % [u,P,X,e] = uPXBA(u,P,X,op,ic,ip) - bundle adjustment of 3D points X, camaras P and image point u
%
% u = {u1, u2, ...} of 2 x n image projections
% P = {P1, P2, ...} of camera descriptions, see X2u
% X = 3 x n 3D points
% ic = {i1, i2, ...} of 1 x n camera ids for u's (if missing, all cameras see all points)
%... |
github | PavelTrutman/FocalNet-master | xy2dHres.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2dHres.m | 4,028 | utf_8 | d9c3cc4f2896b196d1c8842f63af1aac | % [e,J] = xy2dHres(x,y[,m,opts,X,ix]) - Residuals of homohgraphies & targer points
%
% y{i} ... 3 x n 2D observed image points
% m ... {'X','HX'}
% X ... residuals of given x w.r.t. etimated best H's
% x ... 2*n x 1 (3 x n) 2D target points
% HX ... residuals of given x ... |
github | PavelTrutman/FocalNet-master | uP2X.m | .m | FocalNet-master/deepag/bin/lib/geometry/uP2X.m | 861 | utf_8 | 0708abc147a192f87a54b36a027956ee | % X = uP2X(u,C,P) - 3D points X on a calibration planes P seen by pixel u
%
% P ... 4 x 1 plane vector
% C ... camera
% C.K ... internal calibration matrix
% C.E ... camera euclidean coordinate system transformation
% C.rp ... [a] parameter of the radial distortion division
% ... |
github | PavelTrutman/FocalNet-master | F2f1f2.m | .m | FocalNet-master/deepag/bin/lib/geometry/F2f1f2.m | 1,380 | utf_8 | cb40895c4957f7959437e823721e9e6e | % f = F2f1f2(F,[p,mth]) - Focal lengths from Fundamental matrix
%
% F = Fundamental matrix with diagonal K1 = diag([f1 f2 1]), K2 = diag([f2 f2 1])
% p = {p1 p2} princial points ({[0;0] [0;0]} implicit)
% mth = method
% 'Bougnoux' - Bougnoux formula from HZ (implicit)
%
% T. Pajdla, pajdla@cvut.cz, 2016-08-28
... |
github | PavelTrutman/FocalNet-master | XdL.m | .m | FocalNet-master/deepag/bin/lib/geometry/XdL.m | 357 | utf_8 | ec51b8a853f936ee6aa084177a0d8ebf | % d = XdL(X,L) - Distance of a point X from a line L
%
% X ... 4 x n points
% L ... 4 x 4 line Plucker matrix
% d ... 1 x n distances
% (c) T.Pajdla, www.neovision.cz, Oct 5, 2004
function d = XdL(X,L)
[u,d,v] = svd(L);
PIn = v(:,3:4);
PIn = [PIn./(ones(4,1)*sqrt(sum(PIn(1:3,:).^2)))]';
d ... |
github | PavelTrutman/FocalNet-master | PPXRecQ.m | .m | FocalNet-master/deepag/bin/lib/geometry/PPXRecQ.m | 1,737 | utf_8 | 824b8aeb9e9c8c360d01d3088bc97255 | % q = PPXRecQ(P1,P2,X,type,par) - Quality of the Reconstruction of X from cameras P1, P2, the bigger the better
%
% P1, P2 = 3 x 4 camera projection matrix
% X = 3 x n 3D points
% type = type of the quality measure
% 'ApXMeanN' = number of points N times the mean of the apical angle at points X (i... |
github | PavelTrutman/FocalNet-master | XdX.m | .m | FocalNet-master/deepag/bin/lib/geometry/XdX.m | 312 | utf_8 | 160c96dc6ff3602a24f749659b8d27ee | % d = XdX(x) - 2D point distance matrix
%
% x ... 2 x n point coordinates
% d ... n x n point symmetric matrix of distances
% (c) T.Pajdla, www.neovision.cz, Sep 6, 2005
function d = XdX(x)
dm = ([repmat(x,[size(x,2),1])-repmat(x(:),[1,size(x,2)])]);
d = sqrt(dm(1:2:end,:).^2+dm(2:2:end,:).^2);
|
github | PavelTrutman/FocalNet-master | E2PP.m | .m | FocalNet-master/deepag/bin/lib/geometry/E2PP.m | 1,968 | utf_8 | ce1fdc6e0add79366fa53a422d56397c | % {P1,P2} = E2PP(E) - Essential Matrix E to projection matrices P1, P2 (4 solutions)
%
% E = essential matrix
% P1 = projection matrix = {[I 0],[I 0],[I 0],[I 0]}
% P2 = projection matrix = { , , , }
%
% such that
%
% x2^T E x1 = 0 => a1 x1 = P1 * X & a2 x2 = P2 X
%
% The distance between the... |
github | PavelTrutman/FocalNet-master | rq3.m | .m | FocalNet-master/deepag/bin/lib/geometry/rq3.m | 781 | utf_8 | 3d11e6d7c489de7f298b2b5516bab03e | %RQ3 Pajdla: Returns a 3x3 upper triangular R and a unitary Q so that X = R*Q
%
% function [R,Q] = rq3(X)
%
% X = input matrix,
% Q = unitary matrix
% R = upper triangular matrix
%
% See also QR.
% Author: Tomas Pajdla, Tomas.Pajdla@esat.kuleuven.ac.be
% ... |
github | PavelTrutman/FocalNet-master | q2par.m | .m | FocalNet-master/deepag/bin/lib/geometry/q2par.m | 953 | utf_8 | 79176f42ca53a96e983ca5e6bb703f25 | % [p,A] = q2par(q) - Conic matrix q to conic parameters p = [x0 y0 a b th]
%
% q = 3 x 3 conic matrix
% a = major semiaxis
% b = minor semiaxis
% th = rotation angle
% A = diagonalization matrix A'*q*A = diag([1/a^2 1/b^2 -1])
% T. Pajdla pajdla@cvut.cz 2014-01-10
function [p,A] = q2par(q)
q = (q+q')/2;... |
github | PavelTrutman/FocalNet-master | qres.m | .m | FocalNet-master/deepag/bin/lib/geometry/qres.m | 339 | utf_8 | 61e730e721a836974ba1a6dfa7e97a1e | % e = qres(Q,X) - evaluate meaningful residuals for a quadric
%
% X ... 3xN points
% Q ... 4x4 quadric
% e ... residuals
% (c) T.Pajdla, www.neovision.cz, Oct 25, 2004
function e = qres(Q,X)
X = a2h(X);
P = Q*X;
n = [1;1;1;1]*sqrt(sum(P(1:3,:).*P(1:3,:)));
P = P./n;
e = sum... |
github | PavelTrutman/FocalNet-master | KRC2P.m | .m | FocalNet-master/deepag/bin/lib/geometry/KRC2P.m | 422 | utf_8 | e152a751f95cba46ea9c47fad562f9c1 | % P = P2KRC(K,R,C) - Camera matrix P = K*R*[I -C]
%
% P = camera calibration matrix ; size = 3x4
% K = matrix of internal camera parameters
% R = rotation matrix
% C = camera center
% or
% K = struct K.K, K.R, K.C
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-08-26
function P =... |
github | PavelTrutman/FocalNet-master | xy2R3.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2R3.m | 866 | utf_8 | 55160e61df76b71804bbc8d541637b28 | % R = xy2R3(x,y) - 3D rotation matrix R s.t. y = R x
%
% x,y ... column vectors
% R ... rotation matrix s.t. y = R x
% (c) T. Pajdla, pajdla@neovision.cz
% 1 May 2008
function R = xy2R3(x,y)
x = x*diag(1./vnorm(x));
y = y*diag(1./vnorm(y));
switch size(x,2)
case 1
v = cross(x,y);
c... |
github | PavelTrutman/FocalNet-master | E5ptNister.m | .m | FocalNet-master/deepag/bin/lib/geometry/E5ptNister.m | 4,105 | utf_8 | bc7f1d8f25c1b2bee2bab71b9707004f | % E = E5ptNister(X[,E]) - 5pt Minimal Relative Pose of Two Cameras by D. Nister
%
% E = essential matrix(ces) celarray (E = R [C_delta]_x)
% X(1:2,:) = 3 x 5 points in image 1
% X(3:4,:) = 3 x 5 points in image 2
% T. Pajdla, pajdla@cvut.cz
% 2016-08-28
function E = E5ptNister(X,E)
if nargin>0
... |
github | PavelTrutman/FocalNet-master | x2sphp.m | .m | FocalNet-master/deepag/bin/lib/geometry/x2sphp.m | 428 | utf_8 | b0c1b8c3fec70009493e8e8cafb96757 | % p = x2sphs(x) - Spherical parametrization of a unit vector
%
% x2sphs(x) = [x2sphs(x(1:end-1))*acos(|x(1:end)|) asin(x(end))]
%
% x ... n x 1 matrix
% p ... n-1 x 1 matrix
%
% See also SPHS2X
% (c) T.Pajdla, www.neovision.cz, Nov 1 2005
function p = x2sphs(x)
i = length(x)-1;
n = norm(x(1:i));
while... |
github | PavelTrutman/FocalNet-master | ux2rdc.m | .m | FocalNet-master/deepag/bin/lib/geometry/ux2rdc.m | 1,879 | utf_8 | 83d435fd824fa18fecd0f7b5998d72b5 | % c = ux2rdc(u,x[,mth,opts]) - radial distortion center
%
% u ... u{i} = 2 x n projections if the i-th target
% x ... 2 x n calibration taget points
% mth ... 'svd' = svd fit (implicit)
% ... 'bnd' = svd + bundle adjustment
% opts ... lsqnonlin options, see optimset
% c ... 2 x 1 distortio... |
github | PavelTrutman/FocalNet-master | m2krt.m | .m | FocalNet-master/deepag/bin/lib/geometry/m2krt.m | 188 | utf_8 | d95d8d71b4b6fe75fd3f875d49e455e3 | %[K,R,T] = m2krt(M) - Camera matrix conversion to K,R,T - obsolete chage to P2KRC
% Tomas Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-08-26
function [K,R,T] = m2krt(M)
[K,R,T] = P2KRC(M); |
github | PavelTrutman/FocalNet-master | unorm.m | .m | FocalNet-master/deepag/bin/lib/geometry/unorm.m | 364 | utf_8 | 65d44f746eca2b9810d72ddd2779fb7b | % n = unorm(x) - columnwise vector 2 normalization
%
% n = x ./ repmat(sqrt(sum(x.^2)),size(x,1),1)
% (c) T.Pajdla, cmp.felk.cvut.cz, May 2 2006
function n = unorm(x)
% n = bsxfun(@times,x,d);
% n = x.*d(ones(size(x,1),1),:);
d = 1./sqrt(sum(x.^2));
n = x.*repmat(d,size(x,1),1);
%n ... |
github | PavelTrutman/FocalNet-master | XY2rtsErr.m | .m | FocalNet-master/deepag/bin/lib/geometry/XY2rtsErr.m | 366 | utf_8 | 46acfa66848e450268498257bc11dbf2 | % e = XY2rtsErr(E,X) - e = ||X{2} - (s*r*X{1} + t)||
%
% X1 ... 3 x n points
% X2 ... 3 x n points
% E.r ... 3 x 3 rotation
% E.t ... 3 x 1 translation
% E.s ... 1 x 1 scale
% e ... errors
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 6 Jan 2009
function e = XY2rtsErr(E,X,cnstr)
e = sqrt(sum( (X(4:6,:)-(E.s... |
github | PavelTrutman/FocalNet-master | MatchGeomVerif.m | .m | FocalNet-master/deepag/bin/lib/geometry/MatchGeomVerif.m | 9,653 | utf_8 | 94210ebc3abdb303bb7afb35476ee567 | % [vmatch,H] = MatchGeomVerif(type,f1,f2,match,options) - Geometric verification of image matches
%
% type = {'PRACT' ... geometricVerification of Vedaldi's "Practical"
% 'MPRACT'}... geometricVerification + muptiple homographies
% f1, f2 = m x n fature matrix (m=3...disc, 4...oriented disc, 5...e... |
github | PavelTrutman/FocalNet-master | PPXRecC.m | .m | FocalNet-master/deepag/bin/lib/geometry/PPXRecC.m | 811 | utf_8 | 321297f94059f72af275176e822a8295 | % c = PPXRecC(P1,X1,P2,X2) - Consistency of two Reconstructions: X1, P1{1}, P1{2} vs X2, P2{1}, P2{2}, the smaller, the better
%
% P1, P2 = {1:2} of 3 x 4 camera projection matrix
% X1, x2 = 3 x n 3D points
% c = [c ma1 ma2]
% c = consistency abs(ma1-ma2)/min(ma1,ma2)
% ... |
github | PavelTrutman/FocalNet-master | ransacfitIdF.m | .m | FocalNet-master/deepag/bin/lib/geometry/ransacfitIdF.m | 154 | utf_8 | 73ce1bdf985a58aac03f04c3efca63b7 | % y = ransacfitIdF(x) - ransac fit identity function y = x
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-07-11
function y = ransacfitIdF(x)
y=x;
|
github | PavelTrutman/FocalNet-master | PPX2ae.m | .m | FocalNet-master/deepag/bin/lib/geometry/PPX2ae.m | 1,421 | utf_8 | 21b6b71345689f1a6bf5af6337635f69 | % a = PPX2ae(P1,P2,X) - Apical angles of the epipolar triangles P1, X, P2
%
% P1, P2 = 3 x 4 camera projection matrix
% X = 3 x n 3D points
% a = apical angles [rad] in the epipolar triangle C1-X-C2
% a(1,:) = angle(C2,C1,X) ... apical angle at camera 1
% a(2,:) = angle(X,C2,C1) ... apical angle at camer... |
github | PavelTrutman/FocalNet-master | ux2rd.m | .m | FocalNet-master/deepag/bin/lib/geometry/ux2rd.m | 1,785 | utf_8 | b0fee5691158187fa2dc4c3e6c1b14fb | % [R,x,e] = ux2rd(u,X,R,rc,opts) - radial distortion estimation from homographies
%
% u ... u{i} = 2 x n projections if the i-th target
% X ... 2 x n coordinates of the target
% R ... radial distortion descriptor
% R.x0 ... 2 x 1 distortion center ([0;0] implicit if field r.x0 missing)
% R.p ... 1... |
github | PavelTrutman/FocalNet-master | h2a.m | .m | FocalNet-master/deepag/bin/lib/geometry/h2a.m | 743 | utf_8 | 7ad6f1c480a8a22edc201a6e8eec2c72 | % x = h2a(X[,w]) - homogeneous to affine coordinates
%
% X ... homogeneous coordinates in columns
% w(i) = 0 ... point at infinity
% x ... affine coordinates in columns
% (c) T.Pajdla, www.neovision.cz, Sep 10, 2004
function x = h2a(X,w)
x = X(1:end-1,:);
xe = X(end,:);
if nargin<2
... |
github | PavelTrutman/FocalNet-master | EGeomErr.m | .m | FocalNet-master/deepag/bin/lib/geometry/EGeomErr.m | 1,452 | utf_8 | 8312686dc0d4aa0071f2a8b1ced642ec | % e = EGeomErr(E,X,iK) - 5pt Minimal Relative Pose of Two Cameras by D.Nister - Error
%
% E = Fundamenral matrix(ces) as E(:,:), E(:,:,i) or E{i}
% X(1:2,:) = 3 x n uncalibrated points in image 1 (= x1)
% X(3:4,:) = 3 x n uncalibrated points in image 2 (= x2)
% iK = [iK1;iK2] ... stacked inverses of ... |
github | PavelTrutman/FocalNet-master | xy2H.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2H.m | 6,422 | utf_8 | 79df364d4effb93fd2481ca318f60434 | % [H,d] = xy2H(x,y[,m,dp,op]) - Homography estimation
%
% \exists a \in R such that a y ~ H x where ~ stands for "approximates"
%
% x ... 3 x n 2D points
% y ... 3 x n 2D points
% H ... 3 x 3 homography matrix
% d ... 1 x n residuals computed by using resid
% m ... {method, resids}
% method = 'DLT' ..... |
github | PavelTrutman/FocalNet-master | xy2nxy.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2nxy.m | 1,770 | utf_8 | 469dd49db468c8f2d057d5e5c3e1a46e | % [A,B] = xy2nxy(x,y) - Point normalization for multiple view geometry - 2 images
%
% mean(A*x) = 0 & mean(B*y) = 0 & std(|A*x|) = sqrt(2) & std(|B*y|) = sqrt(2)
%
% x, y ... 2 x n points (if 3 x n, the last coord. is ignored)
% A, B ... 3 x 3 affinity matrix
%
% R.Hartley, A.Zisserman. Multiple View Geometry. 2... |
github | PavelTrutman/FocalNet-master | P4ptP4Pf.m | .m | FocalNet-master/deepag/bin/lib/geometry/P4ptP4Pf.m | 510 | utf_8 | a4bd16136cd3e863720cf513eac1cdc1 | % P = P4ptP4Pf(X,P) - 4pt Minimal Ablsoute Pose Problem
%
% P = 3x4 projection matrix
% X(1:3,:) = 3 x 4 3D points
% X(4:5,:) = 2 x 4 image projections
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 2015-09-06
function P = P4ptP4Pf(X,P)
if nargin>0
if all(size(X)==[5 4])
[f,R,t] = P4Pf(X(4:5,:)... |
github | PavelTrutman/FocalNet-master | ransacfit.m | .m | FocalNet-master/deepag/bin/lib/geometry/ransacfit.m | 10,001 | utf_8 | c4711ff3c43bf7305ed4f730b655812d | % [p,inl,res,L] = ransacfit(x,model,maxres,smpls,smpln[,doLO,cnstr]) - Ransac fitting
%
% x ... data - structure depends on the model, see the function
% implementation
% model ... {'line','line-cnstr-seg','plane','conic','3Dpts','E5ptNister','P3PSolver','uX2PSolver'}
% maxres .... |
github | PavelTrutman/FocalNet-master | XY2rts.m | .m | FocalNet-master/deepag/bin/lib/geometry/XY2rts.m | 637 | utf_8 | 34eca7fdd10bc1e32ca1c1559df4bf09 | % E = XY2rts(X) - E = arg min ||X(4:6,:) - (s*r*X(1:3,:) + t)||
%
% X(1:3,:) ... 3 x n points
% X(4:6,:) ... 3 x n points
% E.r ... 3 x 3 rotation
% E.t ... 3 x 1 translation
% E.s ... 1 x 1 scale
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 6 Jan 2009
function E = XY2rts(X)
X1 = X(1:3,:);
X2 = X(4:6,:);
% c... |
github | PavelTrutman/FocalNet-master | qP2c.m | .m | FocalNet-master/deepag/bin/lib/geometry/qP2c.m | 3,488 | utf_8 | 497fd26923d67dc33d4e45d5130c1862 | % [c,A] = qP2c(u,K) - the projection of the center of a circle observed as an ellise in an mage with known K matrix
%
% u = 2 x n image coordinates of point on the observed ellipse
% K = camera internal K-matrix
% c = 2 x 1 projection of the center of the observed circle
% A = rectification matrix from the ellips... |
github | PavelTrutman/FocalNet-master | ratraxa.m | .m | FocalNet-master/deepag/bin/lib/geometry/ratraxa.m | 374 | utf_8 | 2c5dcced93110c492179e737ac6deb8b | % R = ratraxa(v,a) - a rational approximation of rotation aroung v by a
%
% v = rotation axis vector
% a = rotation angle in (-pi/2 pi/2)
% R = rotation matrix
% 2011-10-31, T. Pajdla, pajdla@gmail.com
function R = ratraxa(v,a)
tol = 10^6*eps;
v = v/norm(v);
[a(1),a(2)] = rat(tan(a),tol);
f = atan2(v(2)... |
github | PavelTrutman/FocalNet-master | xconstr2T.m | .m | FocalNet-master/deepag/bin/lib/geometry/xconstr2T.m | 7,055 | utf_8 | bb50b62946db32ef30a51b85b825567a | % t = xconstr2T(x1,x2,d[,p]) - L_infty solution to camera translation for known rotation
%
% x1, x2 ... image points, 3 x n
% d ... [d1 d2] = tolerance circle radii
% sp ... 0 (or mising) - d = radius in pixels in the 2D image
% 1 - d = radius in radians on the sphere
% p ... |
github | PavelTrutman/FocalNet-master | kr3.m | .m | FocalNet-master/deepag/bin/lib/geometry/kr3.m | 371 | utf_8 | eb3c95413373c4955dca8dfa19b73765 | % [K,R] = kr3(A) - Matrix decomposition A = K*R, K triu, R rotation
%
% A = 3 x 3 matrix,
% K = upper triangular matrix
% R = rotation
%
% (c) T. Pajdla, pajdla@cmp.felk.cvut.cz
% 5 May 2008
function [K,R] = kr3(A)
R(3,:) = A(3,:)/norm(A(3,:));
R(1,:) = cross(A(2,:),R(3,:));
R(1,:) = R(1,:)/norm(... |
github | PavelTrutman/FocalNet-master | PP2F.m | .m | FocalNet-master/deepag/bin/lib/geometry/PP2F.m | 630 | utf_8 | ad3a0acf5cfa99cc1cfe33b85bd4c3d1 | % F = PP2F(P1,P2) - Fundamental matrix F from projections matrices P1, P2
%
% P1, P2 = projection matrices
% F = Fundamental matrix F = [P2*null(P1)]_x * P2 * pinv(P1) scaled such that ||F||_F = sqrt(2)*||C2-C1||
% T.Pajdla, pajdla@cvut.cz
% 2015-07-11
function F = PP2F(P1,P2)
if all(isfinite(P1(:))) && a... |
github | PavelTrutman/FocalNet-master | p3p.m | .m | FocalNet-master/deepag/bin/lib/geometry/p3p.m | 7,015 | utf_8 | 70522de70dc6b17302b78f559dc625d1 | % [R,C,f,cs] = p3p(u,x[,d]) - P3P problems (regular case)
%
% u = 3 x 3 matrix of image projections
% x = 3 x 3 matrix of 3D points stored as columns
% d = {0,1} debug plot flag
% R = 3 x 3 x n matrix of n camera rotations
% C = 3 x n matrix of camera centers
% f = handles to debug plots
% cs = case used A=1,B1... |
github | PavelTrutman/FocalNet-master | P3PSolver.m | .m | FocalNet-master/deepag/bin/lib/geometry/P3PSolver.m | 522 | utf_8 | 751b0a4fb8afe8dd59975b5e3b013932 | % P = P3PSolver(X[,P]) - Absolute Camera Pose Solver
%
% P = Calibrated camera P =[R -R*C] matrix celarray
% X(1:3,:) = 3 x 3 points in image 1
% X(4:6,:) = 3 x 3 3D points
% T. Pajdla, pajdla@cmp.felk.cvut.cz, 2015-09-09
function P = P3PSolver(X,P)
if nargin>0
if nargin<2 % slove for P3P
... |
github | PavelTrutman/FocalNet-master | PerspRepErr.m | .m | FocalNet-master/deepag/bin/lib/geometry/PerspRepErr.m | 951 | utf_8 | c8815ace461daae0b355c66c9ea5dc98 | % e = PerspRepErr(P,X,K) - Perspective reprojection error
%
% P = Calibrated projection matrix [R -R*C], P, P(:,:,i) or P{i}
% K = Camera calibration matrix
% X(1:3,:) = 3 x n image projections
% X(4:6(7),:) = 3(4) x n 3D points
% e = image reprojection error
% T. Pajdla, pajdla@cmp.felk.c... |
github | PavelTrutman/FocalNet-master | xy2Hres.m | .m | FocalNet-master/deepag/bin/lib/geometry/xy2Hres.m | 1,249 | utf_8 | 438975ecae58e373b6b1d0572fbde346 | % e = xy2Hres(H,x,y,obj) - Homography residuals
%
% H ... 3 x 3 (9 x 1) homography matrix
% x ... 3 x n 2D points
% y ... 3 x n 2D points
% obj ... 'x-x' ... error in x
% e = dy = sqrt(sum((h2a(inv(H)*y)-h2a(x)).^2));
% 'y-y' ... error in y
% e ... |
github | PavelTrutman/FocalNet-master | ux2rdres.m | .m | FocalNet-master/deepag/bin/lib/geometry/ux2rdres.m | 1,072 | utf_8 | ff1018f6beb18c44adf2f004d3aa79d1 | % e = ux2rdres(p,R,u,X) - radial distortion estimation from homographies - residuals
%
% R ... radial distortion model, see ur2u
% p ... [c(1) c(2) rp] ... model parameters
% c = center
% rp = distortion parameters, see ur2u
% u ... u{i} = 2 x n projections of the i-th target
... |
github | PavelTrutman/FocalNet-master | x2nx.m | .m | FocalNet-master/deepag/bin/lib/geometry/x2nx.m | 1,513 | utf_8 | 5e7093802dcb11046d24b513437232cc | % A = x2nx(x[,mtd]) - Point normalization for multiple view geometry
%
% mtd = 'HZ' ... mean(A x) = 0 & std(|A x|) = sqrt(2) (implicit)
% = '[-1,1]' ... scaled to fit range(|A x|) = [-1 1]
%
% x ... 2 x n points (if 3 x n, the last coordinate is ignored)
% A ... 3 x 3 affinity matrix
%
% R.Hartley, ... |
github | PavelTrutman/FocalNet-master | uX2PSolver.m | .m | FocalNet-master/deepag/bin/lib/geometry/uX2PSolver.m | 378 | utf_8 | a9cc67cb98471917558307f878b4560b | % P = uX2PSolver(X[,P]) - Absolute Camera Pose Solver
%
% P = Camera P matrix celarray
% X(1:3,:) = 3 x 3 points in image 1
% X(4:6,:) = 3 x 3 3D points
% T. Pajdla, pajdla@cmp.felk.cvut.cz, 2015-09-09
function P = uX2PSolver(X,P)
if nargin>0
if nargin<2 % solve
P = {uX2P(X(1:3,:),a2h(X(4:... |
github | PavelTrutman/FocalNet-master | camplot.m | .m | FocalNet-master/deepag/bin/lib/geometry/camplot.m | 2,768 | utf_8 | 3045843fced36f60977c9c7eccea82e8 | % h = camplot(P[,f,c,u,t]) - perspective camera plotting
%
% P = Camera structure P.K, P.R, P.C see X2u.m
% or 3x4 perspective camea projection matrix P = K*R*[I|-C] with rotation R, pose C and
%
% [1/bx s/f u0/f]
% K = [0 1/by v0/f]
% [0 0 1/f]
%
% determining ... |
github | PavelTrutman/FocalNet-master | pfit.m | .m | FocalNet-master/deepag/bin/lib/geometry/pfit.m | 4,557 | utf_8 | 2de6afca15d1cbda5f8f1ba2a9798a57 | %PFIT Pajdla: Plane fit using Least Squares or Least Winsorized Squares
%
%
% function [p,Vp,rW,res,rs,rres] = pfit(X,W,mode,par)
%
% X1 = 3-D points, one point ~ one row
% W = a vector of weights, if missingt, ones are used
% mode = 0 or missing ... least squares minimization
% min sum d^... |
github | PavelTrutman/FocalNet-master | XX2L.m | .m | FocalNet-master/deepag/bin/lib/geometry/XX2L.m | 582 | utf_8 | bb6736881a762800fbc3db9982e7b0e2 | % L = XX2L(X,Y) - Plucker line matrix from 2 points
%
% X ... 4 x 1 [x n] point[s]
% Y ... 4 x 1 point
% L ... 4 x 4 [x n] ray Plucker matrix[ces]
% (c) T.Pajdla, www.neovision.cz, Feb 3, 2005
function L= XX2L(X,Y)
if size(X,2)==1
L = X*Y'-Y*X';
else
L(:,1,:) = X * Y(1);
L(:,2,:) = X * Y(2);... |
github | PavelTrutman/FocalNet-master | PQP2q.m | .m | FocalNet-master/deepag/bin/lib/geometry/PQP2q.m | 546 | utf_8 | ca9733f497483eacc99f45835b806586 | % [q,H] = PQP2q(Q,p,P) - Projection of the intersection of a quadric Q with a plane p by camera P
%
% Q ... 4x4 quadric
% p ... 4x1 plane
% P ... 3x4 camera projection matrix
% q ... 3x3 conic in the plane P
% H ... change of coordinates to make p into w=0
% (c) T.Pajdla, www.neovision.cz, Oct 26, 2004
funct... |
github | PavelTrutman/FocalNet-master | QP2q.m | .m | FocalNet-master/deepag/bin/lib/geometry/QP2q.m | 1,541 | utf_8 | e41599c674f15da83892289fb8665bea | % [q,x,V] = QP2q(Q,P[,N]) - Intersection of a quadric Q with a plane P
%
% Q ... 4x4 quadric
% P ... 4x1 plane
% q ... 3x3 conic in the plane P
% V ... change of coordinates to make P into x=0
% x ... 4xN points on the intersection conic (N points 100 pts implicit),
% homogeneous coordinates
% (c) T.Pa... |
github | PavelTrutman/FocalNet-master | imsldruchclbk.m | .m | FocalNet-master/deepag/bin/lib/utils/imsldruchclbk.m | 488 | utf_8 | ae79dcf1c03c8cce792dcf6b30a886eb | % imsldruchclbk() - image slider callback
%
% See imslider
% T. Pajdla, pajdla@cmp.felk.cvut.cz
% 3 Nov 2009
function imsldruchclbk(a,b,c)
iminf = get(gcf,'userdata');
n = iminf.n;
nb=floor(n/2);
nt=ceil(n/2);
p = round(get(iminf.uch,'Value'));
b = p-nb; t = p+nt;
if t>size(iminf.lpos,2)
t=size(im... |
github | PavelTrutman/FocalNet-master | trckspot-v1.m | .m | FocalNet-master/deepag/bin/lib/utils/trckspot-v1.m | 4,946 | utf_8 | e068319dbb1a6d5ed2441be917a4a272 | % [mx,nx,x,A,o,l,il] = trckspot(im,decim,dthrprc,minR,maxR,dThr,doShow) - detect bright spots
%
% im ... m x n x 1 image
% rect ... valid rectangle in the image [minRow maxRow minCol maxCol]
% decim ... 1:decim:end image decimation
% dthrprc... thereshold 0<1 ... percentile
% >=1 .... |
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