Commit 7df1139d authored by Paul Gay's avatar Paul Gay
Browse files

adding more visualisations

parent 53e249bb
......@@ -146,7 +146,7 @@ imshow(Imm{f}.I); hold on;
Crec = reprQ(R1,Rec,ones(Nf,No),'ortho',1);
Crec = retrasl(Crec,TT);
Crec_p = reprQ(R1,Rec_post,ones(Nf,No),'ortho',1);
%Crec_p = retrasl(Crec_p,TT);
Crec_p = retrasl(Crec_p,TT);
rotpts = R1(2*f-1:2*f,:)*S1;
cc =inv(TT{f})*[rotpts(1:2,:); ones(1,size(S1,2))];
plot(cc(1,:),cc(2,:),'r+');
......@@ -155,15 +155,18 @@ for i=1:(size(bbx,2)/4)
continue
end
if sum(isnan(bbx(f,(i*4-3):(i*4))))==0
plotBbx(bbx(f,(i*4-3):(i*4)),[1 1 0],8,i);
plotEllipse(Cnotrasl(3*f-2:3*f,3*i-2:3*i)/(-Cnotrasl(3*f,3*i)),[1 0 0],4); hold on;
plotEllipse(Crec(3*f-2:3*f,3*i-2:3*i)/(-Crec(3*f,3*i)),[0 0 1],4); hold on;
plotEllipse(Crec_p(3*f-2:3*f,3*i-2:3*i)/(-Crec_p(3*f,3*i)),[0 0 1],4); hold on;
bbx_h = plotBbx(bbx(f,(i*4-3):(i*4)),[1 1 0],8,i);
meas_h = plotEllipse(Cnotrasl(3*f-2:3*f,3*i-2:3*i)/(-Cnotrasl(3*f,3*i)),[1 0 0],4); hold on;
con_sfmo_h = plotEllipse(Crec(3*f-2:3*f,3*i-2:3*i)/(-Crec(3*f,3*i)),[0 0 1],4); hold on;
con_psfmo_h = plotEllipse(Crec_p(3*f-2:3*f,3*i-2:3*i)/(-Crec_p(3*f,3*i)),[0 1 1],4); hold on;
end
end
legend([bbx_h(1), meas_h, con_sfmo_h, con_psfmo_h], {'bbox', 'measurements', 'sfmo conics', 'psfmo conics'});
plot(cc(1,:),cc(2,:),'r+');
end
[~] = plot3Dscene2( GT, Rec_postT_new, x3c_transf, No, 0, [], 0, [0 1 0], [0 0 1]);
title('GT and PSfMO quadrics')
[~] = plot3Dscene2( GT, RecT_new, x3c_transf, No, 0, [], 0, [0 1 0], [1 0 0]);
title('GT and SfMO quadrics')
end
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment