%?MAIN?Illustrates?how?to?use?the?EPnP?algorithm?described?in:
%
%???????Francesc?Moreno-Noguer?Vincent?Lepetit?Pascal?Fua.
%???????Accurate?Non-Iterative?O（n）?Solution?to?the?PnP?Problem.?
%???????In?Proceedings?of?ICCV?2007.?
%
%?Copyright?（C）?<2007>??
%?
%?This?program?is?free?software:?you?can?redistribute?it?and/or?modify
%?it?under?the?terms?of?the?version?3?of?the?GNU?General?Public?License
%?as?published?by?the?Free?Software?Foundation.
%?
%?This?program?is?distributed?in?the?hope?that?it?will?be?useful?but
%?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
%?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.?See?the?GNU
%?General?Public?License?for?more?details.???????
%?You?should?have?received?a?copy?of?the?GNU?General?Public?License
%?along?with?this?program.?If?not?see?.
%
%?Francesc?Moreno-Noguer?CVLab-EPFL?September?2007.
%?fmorenoguer@gmail.com?http://cvlab.epfl.ch/~fmoreno/?

clear?all;?close?all;

addpath?data;
addpath?error;
addpath?EPnP;


fprintf（‘\n---------EPnP--------------\n‘）;
%1.-Generate?simulated?input?data------------------------------------------
load_points=0;
if?~load_points
????n=50;?%number?of?points
????std_noise=10;?%noise?in?the?measurements?（in?pixels）
????[ApointRt]=generate_noisy_input_data（nstd_noise）;
????save（‘data\input_data_noise.mat‘‘A‘‘point‘‘Rt‘）;
else
????load（‘data\input_data_noise.mat‘‘A‘‘point‘‘Rt‘）;
????n=size（point2）;
????draw_noisy_input_data（point）;
end

%2.-Inputs?format--------------------------------
x3d=zeros（n4）;
x2d=zeros（n3）;?
A=A（:1:3）;
for?i=1:n
????x3d_h（i:）=[point（i）.Xworld‘1];?
????x2d_h（i:）=[point（i）.Ximg（1:2）‘1];

????%world?and?camera?coordinates
????X3d_world（i:）=point（i）.Xworld‘;
????X3d_cam（i:）=point（i）.Xcam‘;
end


%3.-EPnP----------------------------------------------------
Xw=x3d_h（:1:3）;
U=x2d_h（:1:2）;

[RpTpXcsol]=efficient_pnp（x3d_hx2d_hA）;

%draw?Results
for?i=1:n
????point（i）.Xcam_est=Xc（i:）‘;
end
figure;?h=gcf;
plot_3d_reconstruction（point‘EPnP?（Old）‘h）;
xlim（[-2?2]）;?ylim（[-2?2]）;

%compute?error
error=reprojection_error_usingRT（XwURpTpA）;
fprintf（‘error?EPnP:?%.3f\n‘error）;


%3.-EPnP_GAUSS_NEWTON----------------------------------------------------
Xw=x3d_h（:1:3）;
U=x2d_h（:1:2）;

[RpTpXcsol]=efficient_pnp_gauss（x3d_hx2d_hA）;

%draw?Results
for?i=1:n
????point（i）.Xcam_est=Xc（i:）‘;
end
figure;?h=gcf;
plot_3d_reconstruction（point‘EPnP?Gauss?Newton‘h）;

%compute?error
error=reprojection_error_usingRT（XwURpTpA）;
fprintf（‘error?EPnP_Gauss_Newton:?%.3f\n‘error）;
xlim（[-2?2]）;?ylim（[-2?2]）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-07-03?20:40??EPnP_matlab\
?????目錄???????????0??2017-07-03?20:40??EPnP_matlab\EPnP\
?????文件????????1522??2007-10-27?10:17??EPnP_matlab\EPnP\compute_A_and_b_Gauss_Newton.m
?????文件????????6792??2007-10-27?10:35??EPnP_matlab\EPnP\compute_L6_10.m
?????文件????????1466??2007-09-05?15:02??EPnP_matlab\EPnP\compute_M_ver2.m
?????文件????????1050??2007-09-05?15:02??EPnP_matlab\EPnP\compute_alphas.m
?????文件????????4130??2007-09-05?15:02??EPnP_matlab\EPnP\compute_constraint_distance_2param_6eq_3unk.m
?????文件????????7573??2007-09-05?15:02??EPnP_matlab\EPnP\compute_constraint_distance_3param_6eq_6unk.m
?????文件???????21501??2007-09-05?15:02??EPnP_matlab\EPnP\compute_constraint_distance_orthog_4param_9eq_10unk.m
?????文件????????1969??2007-10-27?09:54??EPnP_matlab\EPnP\compute_norm_sign_scaling_factor.m
?????文件????????2639??2007-09-05?15:03??EPnP_matlab\EPnP\compute_permutation_constraint4.m
?????文件????????1044??2007-10-27?10:20??EPnP_matlab\EPnP\compute_rho.m
?????文件?????????880??2007-09-05?15:03??EPnP_matlab\EPnP\define_control_points.m
?????文件????????1328??2007-09-05?15:03??EPnP_matlab\EPnP\define_distances_btw_control_points.m
?????文件?????????865??2007-10-27?10:35??EPnP_matlab\EPnP\dist2.m
?????文件????????6775??2007-10-27?10:21??EPnP_matlab\EPnP\efficient_pnp.m
?????文件????????8268??2007-10-27?10:04??EPnP_matlab\EPnP\efficient_pnp_gauss.m
?????文件????????1465??2007-10-27?10:16??EPnP_matlab\EPnP\gauss_newton.m
?????文件?????????537??2007-09-05?12:45??EPnP_matlab\EPnP\getrotT.m
?????文件?????????878??2007-09-05?15:04??EPnP_matlab\EPnP\kernel_noise.m
?????文件????????1733??2007-10-27?10:14??EPnP_matlab\EPnP\optimize_betas_gauss_newton.m
?????文件????????1170??2007-09-05?15:04??EPnP_matlab\EPnP\reprojection_error_usingRT.m
?????文件?????????985??2007-10-27?10:23??EPnP_matlab\EPnP\sign_determinant.m
?????目錄???????????0??2017-07-03?20:40??EPnP_matlab\data\
?????文件????????1249??2007-09-05?15:01??EPnP_matlab\data\draw_noisy_input_data.m
?????文件????????3981??2007-09-05?15:01??EPnP_matlab\data\generate_noisy_input_data.m
?????文件????????5354??2017-06-30?15:48??EPnP_matlab\data\input_data_noise.mat
?????文件?????????936??2007-09-05?15:01??EPnP_matlab\data\project_3d_2d.m
?????文件?????????889??2007-09-05?15:01??EPnP_matlab\data\random.m
?????文件????????1307??2007-09-05?15:01??EPnP_matlab\data\return_Rt_matrix.m
?????文件?????????915??2007-09-05?15:01??EPnP_matlab\data\transform_3d.m
............此處省略5個文件信息