POV-Ray data for Computer Vision

Module contents

look2motion
povread
test_pov
test_povread
vec2motion

   This packages contains MATLAB utilites useful for the extraction
   and analysis of synthetic images generated by means of the POV-Ray
   raytracer. You can:

   - Use POVREAD() to read a POV-Ray generated image together with
     a depth map and camera calibration.

look2motion Convert "look-at" camera specification to matrices

   [R,T]=LOOK2MOTION(POS, LOOK, UP) take postion POS, "look at"
   vector LOOK and "up" vector UP and returns camera rotation R
   and translation T. 

   [R,T] specifies the transformation from the inertial ref. frame to
   the camera ref. frame.

   See also VEC2MOTION().

povread Reads POV-Ray output

   [I,XI,YI,Z] = POVREAD(FILE) reads the files FILE.TXT (camera
   parameters), FILE.PNG (rendered scene), FILE.DEPTH (Z buffer)
   returns the radience image I, the pixel coordinates XI,YI and the
   z-buffer Z. The convention is as such the 3D backprojection of the
   pixels is given by (XI.*Z, YI.*Z, Z).

   [I,XI,YI,Z,INTR] = POVREAD(FILE) returns the intrisic paramters
   INTR as well. These are

   - R       camera rotation
   - T       camera translation
   - angle   full horizontal view angle [rad]
   - focal   focal length (always =1)
   - aspect  aspect ratio
   - psx     x size of pixels
   - psy     y size of pixels
   - prx     x pixel range
   - pry     y pixel range

test_pov

test_povread

vec2motion Convert "look-at" camera specification to matrices

   [R,T]=VEC2MOTION(POS, DIR, UP) take postion POS, "direction"
   vector DIR and "up" vector UP and returns camera rotation R
   and translation T. 

   [R,T] specifies the transformation from the inertial ref. frame to
   the camera ref. frame.

   See also LOOK2MOTION().