update the utility folder to correct one

sair-lab · Mar 7, 2018 · 6857dd2 · 6857dd2
1 parent b18e176
commit 6857dd2
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diff --git a/tracking/utility/affparam2geom.m b/tracking/utility/affparam2geom.m
@@ -1,39 +1,62 @@
-function q = affparam2geom(p)
-% function q = affparam2geom(p)
-%
-% The functions affparam2geom and affparam2mat convert a 'geometric'
-% affine parameter to/from a matrix form (2x3 matrix).
-% 
-% affparam2geom converts a 2x3 matrix to 6 affine parameters
-% (x, y, th, scale, aspect, skew), and affparam2mat does the inverse.
-%
-%    p(6) : [p(1) p(3) p(4); p(2) p(5) p(6)]
-%    q(6) : [dx dy sc th sr phi]
-%
-% Reference "Multiple View Geometry in Computer Vision" by Richard
-% Hartley and Andrew Zisserman. 
-
-% Copyright (C) Jongwoo Lim and David Ross.  All rights reserved.
-
-A = [ p(3), p(4); p(5), p(6) ];
-%%  A = USVt = (UVt)(VSVt) = R(th)R(-phi)SR(phi)
-[U,S,V] = svd(A);
-if (det(U) < 0)
-  U = U(:,2:-1:1);  V = V(:,2:-1:1);  S = S(2:-1:1,2:-1:1);
-end
-q(1) = p(1);  q(2) = p(2);
-q(4) = atan2(U(2,1)*V(1,1)+U(2,2)*V(1,2), U(1,1)*V(1,1)+U(1,2)*V(1,2));
-
-phi = atan2(V(1,2),V(1,1));
-if (phi <= -pi/2)
-  c = cos(-pi/2); s = sin(-pi/2);
-  R = [c -s; s c];  V = V * R;  S = R'*S*R;
-end
-if (phi >= pi/2)
-  c = cos(pi/2); s = sin(pi/2);
-  R = [c -s; s c];  V = V * R;  S = R'*S*R;
-end
-q(3) = S(1,1);
-q(5) = S(2,2)/S(1,1);
-q(6) = atan2(V(1,2),V(1,1));
-q = reshape(q, size(p));
+function q = affparam2geom(p)
+% function q = affparam2geom(p)
+%
+%   输入  ： p，原始参数矩阵；
+%   输出  ： q，具有几何意义的参数；
+% The functions affparam2geom and affparam2mat convert a 'geometric'
+% affine parameter to/from a matrix form (2x3 matrix).
+% 
+% affparam2geom converts a 2x3 matrix to 6 affine parameters
+% (x, y, th, scale, aspect, skew), and affparam2mat does the inverse.
+%
+%    p(6) : [p(1) p(3) p(4); p(2) p(5) p(6)]
+%
+%           x'              p(3)   p(4)   p(1)           x
+%           y'      =       p(5)   p(6)   p(2)     *     y
+%           1                 0      0      1            1
+%
+%                           p(3)   p(4)
+%           A       =        
+%                           p(5)   p(6)
+%
+%    q(6) : [dx dy sc th sr phi]
+%           dx,dy   :   平移变换
+%           sc,sr   :   尺度变换
+%           th      ：  旋转变换
+%           phi     ：  错切变换
+%
+% Reference "Multiple View Geometry in Computer Vision" by Richard
+% Hartley and Andrew Zisserman. 
+
+% Copyright (C) Jongwoo Lim and David Ross.  All rights reserved.
+
+A = [ p(3), p(4); p(5), p(6) ];
+%%  A = USVt = (UVt)(VSVt) = R(th)R(-phi)SR(phi)
+[U,S,V] = svd(A);
+if (det(U) < 0)
+  U = U(:,2:-1:1);  V = V(:,2:-1:1);  S = S(2:-1:1,2:-1:1);
+end
+%%*******平移变换*******%%
+q(1) = p(1);  
+q(2) = p(2);  
+%%*******平移变换*******%%
+
+q(4) = atan2(U(2,1)*V(1,1)+U(2,2)*V(1,2), U(1,1)*V(1,1)+U(1,2)*V(1,2));
+
+phi = atan2(V(1,2),V(1,1));
+if (phi <= -pi/2)
+  c = cos(-pi/2); s = sin(-pi/2);
+  R = [c -s; s c];  V = V * R;  S = R'*S*R;
+end
+if (phi >= pi/2)
+  c = cos(pi/2); s = sin(pi/2);
+  R = [c -s; s c];  V = V * R;  S = R'*S*R;
+end
+
+%%*******尺度变换*******%%
+q(3) = S(1,1);
+q(5) = S(2,2)/S(1,1);
+%%*******尺度变换*******%%
+q(6) = atan2(V(1,2),V(1,1));
+
+q = reshape(q, size(p));
diff --git a/tracking/utility/affparam2mat.m b/tracking/utility/affparam2mat.m
@@ -1,30 +1,33 @@
-function q = affparam2mat(p)
-% function q = affparam2mat(p)
-%
-% The functions affparam2geom and affparam2mat convert a 'geometric'
-% affine parameter to/from a matrix form (2x3 matrix).
-% 
-% affparam2geom converts a 2x3 matrix to 6 affine parameters
-% (x, y, th, scale, aspect, skew), and affparam2mat does the inverse.
-%
-%    p(6,n) : [dx dy sc th sr phi]'
-%    q(6,n) : [q(1) q(3) q(4); q(2) q(5) q(6)]
-%
-% Reference "Multiple View Geometry in Computer Vision" by Richard
-% Hartley and Andrew Zisserman. 
-
-% Copyright (C) Jongwoo Lim and David Ross.  All rights reserved.
-
-
-sz = size(p);
-if (length(p(:)) == 6)
-  p = p(:);
-end
-s = p(3,:);  th = p(4,:);  r = p(5,:);  phi = p(6,:);
-cth = cos(th);  sth = sin(th);  cph = cos(phi);  sph = sin(phi);
-ccc = cth.*cph.*cph;  ccs = cth.*cph.*sph;  css = cth.*sph.*sph;
-scc = sth.*cph.*cph;  scs = sth.*cph.*sph;  sss = sth.*sph.*sph;
-q(1,:) = p(1,:);  q(2,:) = p(2,:);
-q(3,:) = s.*(ccc +scs +r.*(css -scs));  q(4,:) = s.*(r.*(ccs -scc) -ccs -sss);
-q(5,:) = s.*(scc -ccs +r.*(ccs +sss));  q(6,:) = s.*(r.*(ccc +scs) -scs +css);
-q = reshape(q, sz);
+function q = affparam2mat(p)
+% function q = affparam2mat(p)
+%
+% The functions affparam2geom and affparam2mat convert a 'geometric'
+% affine parameter to/from a matrix form (2x3 matrix).
+%
+%   输入  ： q，具有几何意义的参数；
+%   输出  ： p，原始参数矩阵；
+%
+% affparam2geom converts a 2x3 matrix to 6 affine parameters
+% (x, y, th, scale, aspect, skew), and affparam2mat does the inverse.
+%
+%    p(6,n) : [dx dy sc th sr phi]'
+%    q(6,n) : [q(1) q(3) q(4); q(2) q(5) q(6)]
+%
+% Reference "Multiple View Geometry in Computer Vision" by Richard
+% Hartley and Andrew Zisserman. 
+
+% Copyright (C) Jongwoo Lim and David Ross.  All rights reserved.
+
+
+sz = size(p);
+if (length(p(:)) == 6)
+  p = p(:);
+end
+s = p(3,:);  th = p(4,:);  r = p(5,:);  phi = p(6,:);
+cth = cos(th);  sth = sin(th);  cph = cos(phi);  sph = sin(phi);
+ccc = cth.*cph.*cph;  ccs = cth.*cph.*sph;  css = cth.*sph.*sph;
+scc = sth.*cph.*cph;  scs = sth.*cph.*sph;  sss = sth.*sph.*sph;
+q(1,:) = p(1,:);  q(2,:) = p(2,:);
+q(3,:) = s.*(ccc +scs +r.*(css -scs));  q(4,:) = s.*(r.*(ccs -scc) -ccs -sss);
+q(5,:) = s.*(scc -ccs +r.*(ccs +sss));  q(6,:) = s.*(r.*(ccc +scs) -scs +css);
+q = reshape(q, sz);
diff --git a/tracking/utility/affparaminv.m b/tracking/utility/affparaminv.m
@@ -1,17 +1,17 @@
-function q = affparaminv(p,q)
-% function q = affparaminv(p[, q])
-%
-%    p(6,n) : [dx dy sc th sr phi]'
-%    q(6,n) : [q(1) q(3) q(4); q(2) q(5) q(6)]
-
-% Copyright (C) Jongwoo Lim and David Ross.  All rights reserved.
-
-if (length(p) == 6)
-  p = p(:);
-end
-if (nargin > 1)
-  q = inv([p(3) p(4); p(5) p(6)]) * [q(1)-p(1) q(3:4); q(2)-p(2) q(5:6)];
-else
-  q = inv([p(3) p(4); p(5) p(6)]) * [-p(1) 1 0; -p(2) 0 1];
-end
-q = q([1,2,3,5,4,6]);
+function q = affparaminv(p,q)
+% function q = affparaminv(p[, q])
+%
+%    p(6,n) : [dx dy sc th sr phi]'
+%    q(6,n) : [q(1) q(3) q(4); q(2) q(5) q(6)]
+
+% Copyright (C) Jongwoo Lim and David Ross.  All rights reserved.
+
+if (length(p) == 6)
+  p = p(:);
+end
+if (nargin > 1)
+  q = inv([p(3) p(4); p(5) p(6)]) * [q(1)-p(1) q(3:4); q(2)-p(2) q(5:6)];
+else
+  q = inv([p(3) p(4); p(5) p(6)]) * [-p(1) 1 0; -p(2) 0 1];
+end
+q = q([1,2,3,5,4,6]);