[37] | 1 | % * This code was used in the following articles:
|
---|
| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
|
---|
| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
|
---|
| 5 | % * (best paper)
|
---|
| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
|
---|
| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
| 8 | % * In ICCV workshop on Virtual Representations and Modeling
|
---|
| 9 | % * of Large-scale environments (VRML), 2007.
|
---|
| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
|
---|
| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
|
---|
| 13 | % * [6] Learning Depth from Single Monocular Images,
|
---|
| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
|
---|
| 16 | % *
|
---|
| 17 | % * These articles are available at:
|
---|
| 18 | % * http://make3d.stanford.edu/publications
|
---|
| 19 | % *
|
---|
| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
|
---|
| 21 | % * your reports that uses this code.
|
---|
| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
|
---|
| 23 | % * then please cite [2].
|
---|
| 24 | % *
|
---|
| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
|
---|
| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
|
---|
| 27 | % *
|
---|
| 28 | % * Finally, this code is for non-commercial use only. For further
|
---|
| 29 | % * information and to obtain a copy of the license, see
|
---|
| 30 | % *
|
---|
| 31 | % * http://make3d.stanford.edu/publications/code
|
---|
| 32 | % *
|
---|
| 33 | % * Also, the software distributed under the License is distributed on an
|
---|
| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
---|
| 35 | % * express or implied. See the License for the specific language governing
|
---|
| 36 | % * permissions and limitations under the License.
|
---|
| 37 | % *
|
---|
| 38 | % */
|
---|
| 39 | function [defaultPara ImgInfo fail] = MetricRecon(defaultPara, ImgInfo) |
---|
| 40 | |
---|
| 41 | % This function do Metric Reconstruction for a pair of images |
---|
| 42 | % Step outline: |
---|
| 43 | % 1) Mono calulation |
---|
| 44 | % 2) Robust Pose and Match generation |
---|
| 45 | % 3) Dense match |
---|
| 46 | % 4) Re-inference |
---|
| 47 | % 5) Coherence Texture Process |
---|
| 48 | % 6) Volumatric refining |
---|
| 49 | % 7) Rendering |
---|
| 50 | % |
---|
| 51 | % Input: |
---|
| 52 | % 1) defaultPara - camera intrinsic, ....etc. |
---|
| 53 | % 2) ImgInfo - special structure with Exif, GPS, IMU, Model info |
---|
| 54 | % |
---|
| 55 | % Return: |
---|
| 56 | % 1) TriPoint - Triangluated point |
---|
| 57 | |
---|
| 58 | Debug = 0; |
---|
| 59 | NumPcik = 10; |
---|
| 60 | fail= 0; |
---|
| 61 | |
---|
| 62 | % Parameter Setting |
---|
| 63 | Img1 = ImgInfo(1).ExifInfo.IDName; |
---|
| 64 | Img2 = ImgInfo(2).ExifInfo.IDName; |
---|
| 65 | disp([ 'Processing ' Img1 ' & ' Img2]); |
---|
| 66 | I1=imreadbw([defaultPara.Fdir '/pgm/' Img1 '.pgm']); % function from sift |
---|
| 67 | I2=imreadbw([defaultPara.Fdir '/pgm/' Img2 '.pgm']); % function from sift |
---|
| 68 | ImgScale1 = size(I1); |
---|
| 69 | ImgScale2 = size(I2); |
---|
| 70 | [Img1Index] = ImgInfoIndexFromName(ImgInfo, Img1); |
---|
| 71 | [Img2Index] = ImgInfoIndexFromName(ImgInfo, Img2); |
---|
| 72 | NegI = diag([1 1 -1]); |
---|
| 73 | |
---|
| 74 | % 1. Mono calulation or load the pre-calculated data ------------------------ |
---|
| 75 | [ ImgInfo] = SingleModelInfo(defaultPara, ImgInfo); |
---|
| 76 | |
---|
| 77 | % 2. Robust Pose and Match generation --------------------------------------------- |
---|
| 78 | if defaultPara.Flag.PoseMatches |
---|
| 79 | [Pair, ImgInfo, Matches, fail] = PoseMatchEst(defaultPara, ImgInfo); |
---|
| 80 | Pair.matches = Matches; |
---|
| 81 | if fail > 0 |
---|
| 82 | disp('End of Metric Reconstruction'); |
---|
| 83 | return; |
---|
| 84 | end |
---|
| 85 | if defaultPara.Flag.PoseMatchStor |
---|
| 86 | save([ defaultPara.Fdir '/data/' Img1 '_' Img2 '_PoseMatch.mat'],'Pair','Matches','fail'); |
---|
| 87 | end |
---|
| 88 | end |
---|
| 89 | % To Check if Placing MonoModel using R T make sense |
---|
| 90 | % Indep_Mono_Model_CheckRT(defaultPara, ImgInfo, R, T); |
---|
| 91 | |
---|
| 92 | % 3. Re-inference ----------------------------------------------------------------- |
---|
| 93 | [status1, result] = system(['ls ' defaultPara.Fdir '/data/' Img1 '/' defaultPara.Wrlname '_' Img1 '_NonMono.mat']); |
---|
| 94 | [status2, result] = system(['ls ' defaultPara.Fdir '/data/' Img2 '/' defaultPara.Wrlname '_' Img2 '_NonMono.mat']); |
---|
| 95 | if defaultPara.Flag.ReInference || status1 || status2 |
---|
| 96 | if ~defaultPara.Flag.PoseMatches |
---|
| 97 | [Pair, Matches, fail] = LoadPoseMatch(defaultPara.Fdir, Img1, Img2); |
---|
| 98 | Pair.matches = Matches; |
---|
| 99 | end |
---|
| 100 | [defaultPara ImgInfo] = PairReInferenceSepRender(defaultPara, Pair, ImgInfo, defaultPara.Flag.FlagFirstPair); |
---|
| 101 | end |
---|
| 102 | |
---|
| 103 | % 4. Pair-Wise Occlusion detection and Corrolation Matching ---------------------------------------------------- |
---|
| 104 | if defaultPara.Flag.Refinement |
---|
| 105 | if ~defaultPara.Flag.ReInference && ~defaultPara.Flag.PoseMatches |
---|
| 106 | [ImgInfo1 ImgInfo2 Img1Index Img2Index Pair GlobalScale] = ... % only deal with pairs have been matched |
---|
| 107 | LoadDataForFindOcclu(defaultPara, defaultPara.Wrlname, Img1, Img2, ... |
---|
| 108 | defaultPara.Flag.FlagImgInfoLoadPreStorage); % load all imformation needed for occlusion detection |
---|
| 109 | ImgInfo = [ImgInfo1 ImgInfo2]; |
---|
| 110 | else |
---|
| 111 | GlobalScale(1) = LoadModelStatus(defaultPara.Fdir, defaultPara.Wrlname, Img1, 'Scale'); |
---|
| 112 | GlobalScale(2) = LoadModelStatus(defaultPara.Fdir, defaultPara.Wrlname, Img2, 'Scale'); |
---|
| 113 | end |
---|
| 114 | |
---|
| 115 | % First to Occlusion detection |
---|
| 116 | % time consuming about 5mins |
---|
| 117 | disp('Start Surf Feature Point Occlusion detection'); |
---|
| 118 | [status, result] = system(['ls ' defaultPara.Fdir '/data/' Img1 '_' Img2 '_' defaultPara.PostFixStrAfter '_OccluDetect_Match.mat']); |
---|
| 119 | if ~defaultPara.Flag.FlagPreloadOccluDetectMatches || status |
---|
| 120 | s = warning('off'); |
---|
| 121 | [PointPix1 PointDepth1 FaceSetPickedIND1 POriReprojM1 FieldOccluPix1 OccluDist1 OccluedFaceSetIND1 OccluedFaceSetIDRemained1... |
---|
| 122 | PointPix2 PointDepth2 FaceSetPickedIND2 POriReprojM2 FieldOccluPix2 OccluDist2 OccluedFaceSetIND2 OccluedFaceSetIDRemained2] = ... |
---|
| 123 | FindOccluPair(defaultPara, ImgInfo(1), ImgInfo(2), Pair, GlobalScale, 1); % detect occlsion (use Ray as detector not the surf Features) |
---|
| 124 | % data Struction define: |
---|
| 125 | % PointPix PointDepth FaceSetPickedIND POriReprojM FieldOccluPix OccluDist OccluedFaceSetIND |
---|
| 126 | % -- allof the size that single ray pass through both FaceSet |
---|
| 127 | % FaceSetPickedIND1 used in DepthMap size or surfFeature size |
---|
| 128 | % OccluedFaceSetIND1 used in DepthMap size |
---|
| 129 | save([ defaultPara.Fdir '/data/' Img1 '_' Img2 '_' defaultPara.PostFixStrAfter '_OccluDetect_Match.mat'],... |
---|
| 130 | 'PointPix1','PointDepth1','FaceSetPickedIND1','POriReprojM1','FieldOccluPix1','OccluDist1',... |
---|
| 131 | 'OccluedFaceSetIND1','OccluedFaceSetIDRemained1', ... |
---|
| 132 | 'PointPix2','PointDepth2','FaceSetPickedIND2','POriReprojM2','FieldOccluPix2','OccluDist2',... |
---|
| 133 | 'OccluedFaceSetIND2','OccluedFaceSetIDRemained2'); |
---|
| 134 | s = warning('on'); |
---|
| 135 | else |
---|
| 136 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' defaultPara.PostFixStrAfter '_OccluDetect_Match.mat']); |
---|
| 137 | end |
---|
| 138 | |
---|
| 139 | % Define occlusion if OccluDist > CentainThreshold |
---|
| 140 | if defaultPara.Flag.FlagRecipicalOccluDetection |
---|
| 141 | Mask1 = PointDepth1./OccluDist1 > defaultPara.OcclusionRatioThre | OccluDist1./PointDepth1 > defaultPara.OcclusionRatioThre; |
---|
| 142 | Mask2 = PointDepth2./OccluDist2 > defaultPara.OcclusionRatioThre | OccluDist2./PointDepth2 > defaultPara.OcclusionRatioThre; |
---|
| 143 | else |
---|
| 144 | Mask1 = PointDepth1./OccluDist1 > defaultPara.OcclusionRatioThre;%defaultPara.OccluDistThre; |
---|
| 145 | Mask2 = PointDepth2./OccluDist2 > defaultPara.OcclusionRatioThre;%defaultPara.OccluDistThre; |
---|
| 146 | end |
---|
| 147 | |
---|
| 148 | % Second do Surf Features Matches given Occlusion infomation |
---|
| 149 | disp('Start Finding Surf Feature Point Occlusion Match'); |
---|
| 150 | [status, result] = system(['ls ' defaultPara.Fdir '/data/' Img1 '_' Img2 '_SurfOccluMatches.mat']); |
---|
| 151 | if defaultPara.Flag.LoadStoragedSurfOccluMatches && ~status |
---|
| 152 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_SurfOccluMatches.mat']); |
---|
| 153 | SurfMatches = matches; |
---|
| 154 | else |
---|
| 155 | [SurfMatches fail] = MatchPointsGivenOcclusion(defaultPara, ImgInfo(1), ImgInfo(2), ImgScale1, ImgScale2, ... |
---|
| 156 | Img1, Img2, Img1Index, Img2Index, ... |
---|
| 157 | Pair, GlobalScale, defaultPara.Wrlname, 'SurfOccluMatches', ... |
---|
| 158 | POriReprojM1(:,Mask1), FieldOccluPix1(:,Mask1), FaceSetPickedIND1(:,Mask1), ... |
---|
| 159 | POriReprojM2(:,Mask2), FieldOccluPix2(:,Mask2), FaceSetPickedIND2(:,Mask2), true ); |
---|
| 160 | end |
---|
| 161 | if fail > 0 |
---|
| 162 | disp('End of Metric Reconstruction'); |
---|
| 163 | return; |
---|
| 164 | end |
---|
| 165 | |
---|
| 166 | % 6. Pair-Wise Robust Pose and Match generation (Second time) given the new Occlusion Matches |
---|
| 167 | % ===== Debug Only |
---|
| 168 | if defaultPara.Flag.FlagStorageBeforePairNew |
---|
| 169 | disp('Storaging Data Before Runing PairNew'); |
---|
| 170 | save([defaultPara.Fdir '/data/' Img1 '_' Img2 '_BeforePairNew.mat']); |
---|
| 171 | end |
---|
| 172 | % =============== |
---|
| 173 | PriorPose.R = [Pair.R; Pair.R']; |
---|
| 174 | PriorPose.T = [Pair.T; -Pair.R'*Pair.T]; |
---|
| 175 | [status, result] = system(['ls ' defaultPara.Fdir '/data/' Img1 '_' Img2 '_PairNew.mat']); |
---|
| 176 | if ~defaultPara.Flag.loadStoragedPairNew || status |
---|
| 177 | [PairNew fail]=TestWholePostMatch(defaultPara, ImgInfo(1), ImgInfo(2), PriorPose); |
---|
| 178 | if defaultPara.Flag.FlagStorageAfterPairNew |
---|
| 179 | save([defaultPara.Fdir '/data/' Img1 '_' Img2 '_PairNew.mat'],'PairNew','fail'); |
---|
| 180 | end |
---|
| 181 | else |
---|
| 182 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_PairNew.mat']); |
---|
| 183 | end |
---|
| 184 | if fail > 0 |
---|
| 185 | disp('End of Metric Reconstruction'); |
---|
| 186 | return; |
---|
| 187 | end |
---|
| 188 | |
---|
| 189 | % Given PairNew info do Correlation Matches |
---|
| 190 | % Need to detect Occlusion for Correlation matches |
---|
| 191 | % time consuming about 5mins |
---|
| 192 | disp('Start Ray Point Occlusion detection'); |
---|
| 193 | [status, result] = system(['ls ' defaultPara.Fdir '/data/' Img1 '_' Img2 '_' defaultPara.PostFixStrAfter '_OccluDetect_Ray.mat']); |
---|
| 194 | if ~defaultPara.Flag.FlagPreloadOccluDetectRay || status |
---|
| 195 | s = warning('off'); |
---|
| 196 | [PointPix1 PointDepth1 FaceSetPickedIND1 POriReprojM1 FieldOccluPix1 OccluDist1 OccluedFaceSetIND1 OccluedFaceSetIDRemained1... |
---|
| 197 | PointPix2 PointDepth2 FaceSetPickedIND2 POriReprojM2 FieldOccluPix2 OccluDist2 OccluedFaceSetIND2 OccluedFaceSetIDRemained2] = ... |
---|
| 198 | FindOccluPair(defaultPara, ImgInfo(1), ImgInfo(2), Pair, GlobalScale, false); % detect occlsion (use Ray as detector not the surf Features) |
---|
| 199 | % data Struction define: |
---|
| 200 | % PointPix PointDepth FaceSetPickedIND POriReprojM FieldOccluPix OccluDist OccluedFaceSetIND |
---|
| 201 | % -- allof the size that single ray pass through both FaceSet |
---|
| 202 | % FaceSetPickedIND1 used in DepthMap size or surfFeature size |
---|
| 203 | % OccluedFaceSetIND1 used in DepthMap size |
---|
| 204 | save([ defaultPara.Fdir '/data/' Img1 '_' Img2 '_' defaultPara.PostFixStrAfter '_OccluDetect_Ray.mat'],... |
---|
| 205 | 'PointPix1','PointDepth1','FaceSetPickedIND1','POriReprojM1','FieldOccluPix1','OccluDist1',... |
---|
| 206 | 'OccluedFaceSetIND1','OccluedFaceSetIDRemained1', ... |
---|
| 207 | 'PointPix2','PointDepth2','FaceSetPickedIND2','POriReprojM2','FieldOccluPix2','OccluDist2',... |
---|
| 208 | 'OccluedFaceSetIND2','OccluedFaceSetIDRemained2'); |
---|
| 209 | s = warning('on'); |
---|
| 210 | else |
---|
| 211 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' defaultPara.PostFixStrAfter '_OccluDetect_Ray.mat']); |
---|
| 212 | end |
---|
| 213 | |
---|
| 214 | % Define occlusion if OccluDist > CentainThreshold |
---|
| 215 | if defaultPara.Flag.FlagRecipicalOccluDetection |
---|
| 216 | Mask1 = PointDepth1./OccluDist1 > defaultPara.OcclusionRatioThre | OccluDist1./PointDepth1 > defaultPara.OcclusionRatioThre; |
---|
| 217 | Mask2 = PointDepth2./OccluDist2 > defaultPara.OcclusionRatioThre | OccluDist2./PointDepth2 > defaultPara.OcclusionRatioThre; |
---|
| 218 | else |
---|
| 219 | Mask1 = PointDepth1./OccluDist1 > defaultPara.OcclusionRatioThre;%defaultPara.OccluDistThre; |
---|
| 220 | Mask2 = PointDepth2./OccluDist2 > defaultPara.OcclusionRatioThre;%defaultPara.OccluDistThre; |
---|
| 221 | end |
---|
| 222 | |
---|
| 223 | disp('Start Finding Ray Point Occlusion Match'); |
---|
| 224 | [status, result] = system(['ls ' defaultPara.Fdir '/data/' Img1 '_' Img2 '_CorrMatches.mat']); |
---|
| 225 | if defaultPara.Flag.LoadCorrMatches && ~status |
---|
| 226 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_CorrMatches.mat']); |
---|
| 227 | CorrMatches = Matches; |
---|
| 228 | else |
---|
| 229 | % debuging purpose ========== |
---|
| 230 | if Debug |
---|
| 231 | Mask1 = find(Mask1); |
---|
| 232 | Mask2 = find(Mask2); |
---|
| 233 | RandPcik1 = randperm(length(Mask1)); |
---|
| 234 | NumPcik1 = min(NumPcik,length(Mask1)); |
---|
| 235 | Mask1 = Mask1(RandPcik1(1:NumPcik1)); |
---|
| 236 | RandPcik2 = randperm(length(Mask2)); |
---|
| 237 | NumPcik2 = min(NumPcik,length(Mask2)); |
---|
| 238 | Mask2 = Mask2(RandPcik2(1:NumPcik)); |
---|
| 239 | end |
---|
| 240 | % =========================== |
---|
| 241 | CorrTime = tic; |
---|
| 242 | fprintf(' Running CorrMatches ........'); |
---|
| 243 | [ CorrMatches]=CorrMatchPointsGivenOcclusion( ... |
---|
| 244 | defaultPara, PairNew, GlobalScale,... |
---|
| 245 | POriReprojM1(:,Mask1), FieldOccluPix1(:,Mask1), PointPix1(:,Mask1),... |
---|
| 246 | POriReprojM2(:,Mask2), FieldOccluPix2(:,Mask2), PointPix2(:,Mask2),... |
---|
| 247 | ImgInfo(1), ImgInfo(2), ImgScale1, ImgScale2, ... |
---|
| 248 | true); |
---|
| 249 | disp([' ' num2str( toc( CorrTime)) ' seconds.']); |
---|
| 250 | end |
---|
| 251 | |
---|
| 252 | % Remove redundant matches in SurfMatches & CorrMatches |
---|
| 253 | Coeff = [ones(1, size(SurfMatches, 2)) zeros(1, size(CorrMatches, 2))]; |
---|
| 254 | AllMatches = [ SurfMatches CorrMatches]; |
---|
| 255 | [Inliers] = CleanMatch(AllMatches, Coeff); |
---|
| 256 | [ReverseInliers] = CleanMatch(AllMatches([3 4 1 2], Inliers), Coeff(Inliers)); |
---|
| 257 | Inliers = Inliers(ReverseInliers); |
---|
| 258 | AllMatches = AllMatches(:,Inliers); |
---|
| 259 | |
---|
| 260 | % triangulate depth and put into constrain for inference |
---|
| 261 | if ~isempty(AllMatches)% |
---|
| 262 | disp('Start Triangluation and Storage constrain for inference'); |
---|
| 263 | PostFixStrAfter = 'NewPair'; |
---|
| 264 | tempf1 = AllMatches(1:2,:); |
---|
| 265 | tempf2 = AllMatches(3:4,:); |
---|
| 266 | x_calib = [ inv(defaultPara.InrinsicK1)*[ tempf1; ones(1,size(tempf1,2))];... |
---|
| 267 | inv(defaultPara.InrinsicK2)*[ tempf2; ones(1,size(tempf2,2))]]; |
---|
| 268 | [ lamda1 lamda2 Error] = triangulation( defaultPara, Pair.R, Pair.T, x_calib); |
---|
| 269 | % notice lamda re-scale to local model scale |
---|
| 270 | lamda1 = lamda1./GlobalScale(1); |
---|
| 271 | lamda2 = lamda2./GlobalScale(2); |
---|
| 272 | % Storage the match result for later ReInference |
---|
| 273 | AddMatch2Model(defaultPara, defaultPara.Wrlname, lamda1, AllMatches(1:2,:), ImgInfo(1), ImgScale1, Img1Index, Img2Index, PostFixStrAfter, Error); |
---|
| 274 | AddMatch2Model(defaultPara, defaultPara.Wrlname, lamda2, AllMatches(3:4,:), ImgInfo(2), ImgScale2, Img2Index, Img1Index, PostFixStrAfter, Error); |
---|
| 275 | % Storage the New Matches |
---|
| 276 | if defaultPara.Flag.FlagRefinementDisp |
---|
| 277 | disp('Storaging Occlusion Correlation Matches'); |
---|
| 278 | save([defaultPara.Fdir '/data/' Img1 '_' Img2 '_AllMatches.mat'],'AllMatches','Error'); |
---|
| 279 | end |
---|
| 280 | end |
---|
| 281 | |
---|
| 282 | |
---|
| 283 | % 7. Re-inference ------ with new Pose and Matchese |
---|
| 284 | if defaultPara.Flag.RefinementInference |
---|
| 285 | % For Img1 ====================================================== |
---|
| 286 | disp('PaieNew Inference for Img1'); |
---|
| 287 | % Data preparing and ReInfernece |
---|
| 288 | Default.Wrlname{1} = [defaultPara.Wrlname '_' Img1 '_' PostFixStrAfter]; |
---|
| 289 | load([defaultPara.Fdir '/data/' Img1 '/' defaultPara.Wrlname '_' Img1 '_' PostFixStrAfter '.mat']); |
---|
| 290 | R = LoadModelStatus( defaultPara.Fdir, defaultPara.Wrlname, Img1, 'R'); |
---|
| 291 | T = LoadModelStatus( defaultPara.Fdir, defaultPara.Wrlname, Img1, 'T'); |
---|
| 292 | Scale = LoadModelStatus(defaultPara.Fdir, defaultPara.Wrlname, Img1, 'Scale'); |
---|
| 293 | GroundLevel = LoadModelStatus(defaultPara.Fdir, defaultPara.Wrlname, Img1, 'GroundLevel'); |
---|
| 294 | SingleImgReInference(defaultPara, model, Img1, GroundLevel, defaultPara.Wrlname, ... |
---|
| 295 | R, T, Scale ,PostFixStrAfter); |
---|
| 296 | |
---|
| 297 | % Build Meta Wrl file ========= |
---|
| 298 | Path = [ defaultPara.OutPutFolder defaultPara.Wrlname '_' PostFixStrAfter '.wrl']; |
---|
| 299 | InLinePath = ['./' Img1 '/' Default.Wrlname{1} '.wrl']; |
---|
| 300 | Q = Rotation2Q(NegI*R*NegI);% for Wrl (-) z component; |
---|
| 301 | if any(isnan(Q)) |
---|
| 302 | Q = zeros(4,1); |
---|
| 303 | end |
---|
| 304 | WRLT = T; |
---|
| 305 | WRLT(3) = -WRLT(3);% for Wrl (-) z component; |
---|
| 306 | Scale = LoadModelStatus(defaultPara.Fdir, defaultPara.Wrlname, Img1, 'Scale'); |
---|
| 307 | [status, result] = system(['ls ' Path]); |
---|
| 308 | if status |
---|
| 309 | BuildVrmlMetaModel(1, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
---|
| 310 | else |
---|
| 311 | BuildVrmlMetaModel(0, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
---|
| 312 | end |
---|
| 313 | % =============================== |
---|
| 314 | |
---|
| 315 | % For Img2 =================================== |
---|
| 316 | disp('PaieNew Inference for Img2'); |
---|
| 317 | % Data preparing and ReInfernece |
---|
| 318 | Default.Wrlname{1} = [defaultPara.Wrlname '_' Img2 '_' PostFixStrAfter]; |
---|
| 319 | load([defaultPara.Fdir '/data/' Img2 '/' defaultPara.Wrlname '_' Img2 '_' PostFixStrAfter '.mat']); |
---|
| 320 | T = T + R*(-PairNew.R'*(PairNew.T/PairNew.DepthScale(1)*Scale )); |
---|
| 321 | R = R*PairNew.R'; |
---|
| 322 | Scale = PairNew.DepthScale(2)/PairNew.DepthScale(1)*Scale; |
---|
| 323 | SingleImgReInference(defaultPara, model, Img2, GroundLevel, defaultPara.Wrlname, ... |
---|
| 324 | R, T, Scale ,PostFixStrAfter); |
---|
| 325 | |
---|
| 326 | % Build Meta Wrl file ========= |
---|
| 327 | Path = [ defaultPara.OutPutFolder defaultPara.Wrlname '_' PostFixStrAfter '.wrl']; |
---|
| 328 | InLinePath = ['./' Img2 '/' Default.Wrlname{1} '.wrl']; |
---|
| 329 | Q = Rotation2Q(NegI*R*NegI);% for Wrl (-) z component; |
---|
| 330 | if any(isnan(Q)) |
---|
| 331 | Q = zeros(4,1); |
---|
| 332 | end |
---|
| 333 | WRLT = T; |
---|
| 334 | WRLT(3) = -WRLT(3);% for Wrl (-) z component; |
---|
| 335 | Scale = LoadModelStatus(defaultPara.Fdir, defaultPara.Wrlname, Img2, 'Scale'); |
---|
| 336 | [status, result] = system(['ls ' Path]); |
---|
| 337 | if status |
---|
| 338 | BuildVrmlMetaModel(1, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
---|
| 339 | else |
---|
| 340 | BuildVrmlMetaModel(0, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
---|
| 341 | end |
---|
| 342 | % Storge the New GlobalPose info of Img2 |
---|
| 343 | SaveModelSatus( defaultPara, defaultPara.Wrlname, {Img1,Img2}, GroundLevel, R, T, Scale, defaultPara.Flag.FlagFirstPair); |
---|
| 344 | % ============================== |
---|
| 345 | end |
---|
| 346 | end |
---|
| 347 | |
---|
| 348 | disp('End of Metric Reconstruction'); |
---|
| 349 | return; |
---|
| 350 | |
---|