[37] | 1 | % * This code was used in the following articles:
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| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
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| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
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| 5 | % * (best paper)
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| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
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| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 8 | % * In ICCV workshop on Virtual Representations and Modeling
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| 9 | % * of Large-scale environments (VRML), 2007.
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| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
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| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
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| 13 | % * [6] Learning Depth from Single Monocular Images,
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| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
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| 16 | % *
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| 17 | % * These articles are available at:
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| 18 | % * http://make3d.stanford.edu/publications
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| 19 | % *
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| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
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| 21 | % * your reports that uses this code.
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| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
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| 23 | % * then please cite [2].
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| 24 | % *
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| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
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| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
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| 27 | % *
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| 28 | % * Finally, this code is for non-commercial use only. For further
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| 29 | % * information and to obtain a copy of the license, see
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| 30 | % *
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| 31 | % * http://make3d.stanford.edu/publications/code
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| 32 | % *
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| 33 | % * Also, the software distributed under the License is distributed on an
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| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
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| 35 | % * express or implied. See the License for the specific language governing
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| 36 | % * permissions and limitations under the License.
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| 37 | % *
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| 38 | % */
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| 39 | function [NewR NewT NewX_obj NewX_im dist1 dist2]=SparseBAWraper(defaultPara, R, T, x_im, X_obj, ImgInfo, FlagDisp) |
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| 40 | |
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| 41 | % This function is the wraper function to call eucsbademo |
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| 42 | % which perform the sparse bundle adjustment given |
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| 43 | % Input: |
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| 44 | % 1) defaultPara - camera intrinsic paramter in calib.txt |
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| 45 | % 2) Rotation adn Translation - camera viewpoint in cams.txt |
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| 46 | % 3) X_obj - object 3D position in pts.txt |
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| 47 | % note: for the format of calib.txt cams.txt pts.txt |
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| 48 | % please see README.txt in sba-1.3/demo/ |
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| 49 | % |
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| 50 | % Return: |
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| 51 | % 1) |
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| 52 | |
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| 53 | Img1 = strrep(ImgInfo(1).ExifInfo.name,'.jpg',''); |
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| 54 | Img2 = strrep(ImgInfo(2).ExifInfo.name,'.jpg',''); |
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| 55 | NumObj = length(X_obj); |
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| 56 | |
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| 57 | % calculate qauternion |
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| 58 | [axis_angle qauternion] = Rotation2Q(R(1:3,:)); |
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| 59 | |
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| 60 | % Write 3 .txt files in Fdir/info/ |
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| 61 | % 1) cams.txt |
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| 62 | fp = fopen([defaultPara.Fdir '/info/cams'],'w'); |
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| 63 | fprintf(fp, '1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000\n'); % the reference camera |
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| 64 | fprintf(fp, '%.6g ', qauternion); % print the quaternion of the second camera |
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| 65 | fprintf(fp, '%.6g ', T(1:3)); % print the translation of the second camera |
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| 66 | fclose(fp); |
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| 67 | |
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| 68 | % 2) pts.txt |
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| 69 | fp = fopen([defaultPara.Fdir '/info/pts'],'w'); |
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| 70 | fprintf(fp, '# X Y Z nframes frame0 x0 y0 frame1 x1 y1 ... \n'); % the reference camera |
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| 71 | for i = 1:NumObj |
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| 72 | fprintf(fp, '%.6g ', X_obj(:,i)); |
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| 73 | fprintf(fp, '2 0 '); |
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| 74 | fprintf(fp, '%.6g ', x_im(1:2,i)); |
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| 75 | fprintf(fp, '1 '); |
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| 76 | fprintf(fp, '%.6g ', x_im(3:4,i)); |
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| 77 | fprintf(fp, '\n'); |
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| 78 | end |
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| 79 | fclose(fp); |
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| 80 | |
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| 81 | % 3) calib.txt |
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| 82 | fp = fopen([defaultPara.Fdir '/info/calib'],'w'); |
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| 83 | fprintf(fp, '%.6g ', defaultPara.InrinsicK1(1,:)); |
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| 84 | fprintf(fp, '\n'); |
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| 85 | fprintf(fp, '%.6g ', defaultPara.InrinsicK1(2,:)); |
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| 86 | fprintf(fp, '\n'); |
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| 87 | fprintf(fp, '%.6g ', defaultPara.InrinsicK1(3,:)); |
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| 88 | fprintf(fp, '\n'); |
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| 89 | fclose(fp); |
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| 90 | |
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| 91 | %-------------------------------------------------- |
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| 92 | |
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| 93 | % call sba to solve sfm |
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| 94 | sbaInfoPath = [defaultPara.Fdir '/info/']; |
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| 95 | outputName = [ Img1 '-' Img2 '.out']; |
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| 96 | system(['../third_party/sba-1.3/demo/eucsbademo ' sbaInfoPath 'cams ' sbaInfoPath 'pts ' sbaInfoPath 'calib > ' sbaInfoPath outputName]); |
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| 97 | |
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| 98 | % Read in the result R T and X_obj x_im |
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| 99 | [NewR NewT NewX_im NewX_obj] = readBA([sbaInfoPath outputName]); |
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| 100 | % system(['rm ' sbaInfoPath outputName]); |
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| 101 | |
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| 102 | temp = defaultPara.InrinsicK1*NewX_obj; |
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| 103 | NewX_im(1:2,:) = temp(1:2,:)./repmat( temp(3,:),2,1); |
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| 104 | temp = defaultPara.InrinsicK2*(NewR*NewX_obj + repmat(NewT,1,length(NewX_obj))); |
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| 105 | NewX_im(3:4,:) = temp(1:2,:)./repmat( temp(3,:),2,1); |
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| 106 | |
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| 107 | re = NewX_im - x_im; |
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| 108 | dist1 = sqrt(sum(re(1:2,:).^2, 1)); |
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| 109 | dist2 = sqrt(sum(re(3:4,:).^2, 1)); |
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| 110 | |
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| 111 | return; |
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