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raviBhadeshiya · May 9, 2017 · 8ad4800 · 8ad4800
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commit 8ad4800
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diff --git a/VisualOdometry/code/EssentialMatrixFromFundamentalMatrix.m b/VisualOdometry/code/EssentialMatrixFromFundamentalMatrix.m
diff --git a/VisualOdometry/code/EstimateFundamentalMatrix.m b/VisualOdometry/code/EstimateFundamentalMatrix.m
diff --git a/VisualOdometry/code/data.mat b/VisualOdometry/code/data.mat
diff --git a/VisualOdometry/code/final.m b/VisualOdometry/code/final.m
diff --git a/VisualOdometry/code/helperEstimateRelativePos.m b/VisualOdometry/code/helperEstimateRelativePos.m
diff --git a/VisualOdometry/code/helperUpdateCameraPlots.m b/VisualOdometry/code/helperUpdateCameraPlots.m
diff --git a/VisualOdometry/code/helperUpdateCameraTrajectories.m b/VisualOdometry/code/helperUpdateCameraTrajectories.m
diff --git a/VisualOdometry/code/main.m b/VisualOdometry/code/main.m
@@ -6,34 +6,11 @@
 allImages = imageDatastore(imgFolder,'IncludeSubfolders',true);
 model=fullfile('..\input\Oxford_dataset\model');
 cd code;
-
 [fx, fy, cx, cy, G_camera_image, LUT]=ReadCameraModel(imgFolder,model);clc;
 K=[fx 0 cx;0 fy cy;0 0 1];
 cameraParams = cameraParameters('IntrinsicMatrix', K');
 %%
-figure
-axis([-50, 50, -140, 20, -10, 1000]);
-
-% Set Y-axis to be vertical pointing down.
-view(gca, 3);
-set(gca, 'CameraUpVector', [0, -1, 0]);
-camorbit(gca, -120, 0, 'data', [0, 1, 0]);
-
-grid on
-xlabel('X (cm)');
-ylabel('Y (cm)');
-zlabel('Z (cm)');
-hold on
-
-cameraSize = 7;
-camEstimated = plotCamera('Size', cameraSize, 'Location',...
-    [0 0 0], 'Orientation', eye(3),...
-    'Color', 'g', 'Opacity', 0);
-trajectoryEstimated = plot3(0, 0, 0, 'g-');
-title('Camera Trajectory');
-%%
 start=1;
-
 for i = start:length(allImages.Files)
     image = demosaic(readimage(allImages,i),'gbrg');
     undistortedImg = UndistortImage(image,LUT);