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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