Upload New File

Synthetic Image Generator/volume_gen2.m

+function [disp,Cam2]= volume_gen2(disp,Transform,Calib_type)
+
+if Calib_type == 1
+    
+   % Apply the transformation matrix to the generated points
+   % Left camera
+   [Cam2.L.X2,Cam2.L.Y2] = apply_poly(disp,Transform.Leftcam);
+   
+   % Right camera
+   [Cam2.R.X2,Cam2.R.Y2] = apply_poly(disp,Transform.Rightcam);
+   
+else
+   % Count rows and columns in the original image 
+   [num_rows, num_cols,depth] = size(disp.X1);
+
+   % Apply the transformation matrix to the shifted points
+   % Left camera
+   Trans.Left = Transform.Leftcam * [(disp.X1(:))'; (disp.Y1(:))'; (disp.Z1(:))'; ones(1,numel(disp.X1))];
+   
+   % Right camera
+   Trans.Right = Transform.Rightcam * [(disp.X1(:))'; (disp.Y1(:))'; (disp.Z1(:))'; ones(1,numel(disp.X1))];
+   
+   % Find the scaling factor
+   Lambda.L = reshape(Trans.Left(3, :),[num_rows, num_cols, depth]);
+   Lambda.R = reshape(Trans.Right(3, :),[num_rows, num_cols, depth]);
+
+   % Compute corresponding coordinates in image plane
+   % X-coordinate
+   Cam2.L.X2 = reshape(Trans.Left(1, :),[num_rows, num_cols, depth])./Lambda.L;
+   Cam2.R.X2 = reshape(Trans.Right(1, :),[num_rows, num_cols, depth])./Lambda.R;
+
+   % Y coordinate
+   Cam2.L.Y2 = reshape(Trans.Left(2, :),[num_rows, num_cols, depth])./Lambda.L;
+   Cam2.R.Y2 = reshape(Trans.Right(2, :),[num_rows, num_cols, depth])./Lambda.R;     
+end
+
+