三维重建方面的资料

noBugnoGain — Mon, 29 Dec 2008 03:08:00 GMT

http://www.cs.unc.edu/~marc/research.html
http://research.microsoft.com/users/antcrim/
http://www.csse.uwa.edu.au/~cheng/3dmodel.html
http://research.microsoft.com/~hoppe/
http://www.koders.com/
http://www.cs.ubc.ca/~lowe/keypoints/
http://www.csie.ntu.edu.tw/~cyy/courses/vfx/05spring/lectures/
http://local.wasp.uwa.edu.au/~pbourke
http://grail.cs.washington.edu/software-data/
http://www.cs.jhu.edu/~misha/Code
http://grail.cs.washington.edu/projects/mview/
http://www.robots.ox.ac.uk/~vgg/data.html
http://cmp.felk.cvut.cz/
http://www.vision.caltech.edu/bouguetj/calib_doc/
http://cvlab.epfl.ch/~tola
http://www.cs.washington.edu/homes/furukawa/
http://vision.middlebury.edu/mview/
http://cobweb.ecn.purdue.edu/~kak/courses-i-teach/ECE661/index.html
http://www.simple3d.com/
http://www.cis.uab.edu/jj/structureFromMotion.htm
http://svr-www.eng.cam.ac.uk/research/vision/research.html
http://www.unchainedgeometry.com/jbloom/papers.html
http://people.csail.mit.edu/wojciech/
http://phototour.cs.washington.edu/bundler/
http://blog.sina.com.cn/s/blog_3e8707b40100cifo.html
http://code.google.com/p/3dslam/source/

noBugnoGain 2008-12-29 11:08 发表评论

旋转矩阵转换为四元数

noBugnoGain — Mon, 29 Dec 2008 03:03:00 GMT

#include
#include

struct Quaternion
{
    float x;
    float y;
    float z;
    float w;
};

struct rotMatrix
{
    float m11, m12, m13;
    float m21, m22, m23;
    float m31, m32, m33;
};

//fuction:旋转矩阵到四元数的转换
void rotMatrixToQuternion(Quaternion &q, rotMatrix &r)
{
    float tr = r.m11 + r.m22 +r.m33;
    float temp = 0.0;
    if(tr > 0.0)
    {
        temp = 0.5f / sqrtf(tr+1);
        q.w = 0.25f / temp;
        q.x = (r.m23 - r.m32) * temp;
        q.y = (r.m31 - r.m13) * temp;
        q.z = (r.m12 - r.m21) * temp;
    }
    else
    {
        if(r.m11 > r.m22 && r.m11 > r.m33)
        {
            temp = 2.0f * sqrtf(1.0f + r.m11 - r.m22 - r.m33);
            q.w = (r.m32 - r.m23) / temp;
            q.x = 0.25f * temp;
            q.y = (r.m12 + r.m21) / temp;
            q.z = (r.m13 + r.m31) / temp;
        }
        else if( r.m22 > r.m33)
        {
            temp = 2.0f * sqrtf(1.0f + r.m22 - r.m11 - r.m33);
            q.w = (r.m13 - r.m31) / temp;
            q.x = (r.m12 + r.m21) / temp;
            q.y = 0.25f * temp;
            q.z = (r.m23 + r.m32) / temp;
        }
        else
        {
            temp = 2.0f * sqrtf(1.0f + r.m33 - r.m11 - r.m22);
            q.w = (r.m21 - r.m12) / temp;
            q.x = (r.m13 + r.m31) / temp;
            q.y = (r.m23 + r.m32) / temp;
            q.z = 0.25f * temp;
        }
    }
}

void main()
{
    float m1[9] = {0.01551372092999463200, 0.99884343581246959000, -0.04550950666890610900,
        0.99922238739871228000 ,-0.01713749902859566800 ,-0.03550952897832390700,
        -0.03624837905512174500, -0.04492323298011671700, -0.99833258894743582000};
    rotMatrix rm1;
    rm1.m11 = m1[0];
    rm1.m12 = m1[1];
    rm1.m13 = m1[2];
    rm1.m21 = m1[3];
    rm1.m22 = m1[4];
    rm1.m23 = m1[5];
    rm1.m31 = m1[6];
    rm1.m32 = m1[7];
    rm1.m33 = m1[8];

    Quaternion q1;

    rotMatrixToQuternion(q1, rm1);
    cout<

    float m2[9] = {0.01614490437974924100, 0.99884677638989772000, -0.04521569813768747100,
        0.99856922398083869000, -0.01380176413826810800, 0.05166252244109931900,
        0.05097888759941932700, -0.04598509108593063600, -0.99764047853770654000};
    rotMatrix rm2;
    rm2.m11 = m2[0];
    rm2.m12 = m2[1];
    rm2.m13 = m2[2];
    rm2.m21 = m2[3];
    rm2.m22 = m2[4];
    rm2.m23 = m2[5];
    rm2.m31 = m2[6];
    rm2.m32 = m2[7];
    rm2.m33 = m2[8];

    Quaternion q2;

    rotMatrixToQuternion(q2, rm2);
    cout<}

noBugnoGain 2008-12-29 11:03 发表评论

C++博客-落霞与孤骛齐飞，秋水共长天一色。-文章分类-基于图像的建模

三维重建方面的资料

旋转矩阵转换为四元数