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 [PointPix1 PointDepth1 TargetIND1 POriReprojM1 FieldOccluPix1 OcluedDist1 OccluedFaceSetIND1 FieldFaceSetIDRemained1... |
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40 | PointPix2 PointDepth2 TargetIND2 POriReprojM2 FieldOccluPix2 OcluedDist2 OccluedFaceSetIND2 FieldFaceSetIDRemained2]=... |
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41 | FindOccluPair(defaultPara, ModelInfo1, ModelInfo2, Pair, GlobalScale, SurfFlag) |
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42 | |
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43 | % Function find the closed occlu point and output a region on epipolar line |
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44 | % to search for dense match |
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45 | % Hacking Fix Parameters ============================== |
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46 | Default.fy = 2400.2091651084; |
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47 | Default.fx = 2407.3312729885838; |
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48 | Default.Ox = 1110.7122391785729;%2272/2; % |
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49 | Default.Oy = 833.72104535435108;%1704/2; % |
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50 | Default.a_default = 2272/Default.fx; %0.70783777; %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
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51 | Default.b_default = 1704/Default.fy; %0.946584169;%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
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52 | Default.Ox_default = 1-Default.Ox/2272;%0.489272914; % camera origin offset from the image center in horizontal direction |
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53 | Default.Oy_default = 1-Default.Oy/1704;%0.488886982; % camera origin offset from the image center in vertical direction |
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54 | [Default.VertYNuDepth Default.HoriXNuDepth] = size(ModelInfo1.Model.PlaneParaInfo.FitDepth); |
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55 | % ===================================================== |
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56 | |
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57 | % loading Image |
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58 | Img1 = ModelInfo1.ExifInfo.IDName; |
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59 | I1 = imreadbw([defaultPara.Fdir '/pgm/' Img1 '.pgm']); |
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60 | Img2 = ModelInfo2.ExifInfo.IDName; |
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61 | I2 = imreadbw([defaultPara.Fdir '/pgm/' Img2 '.pgm']); |
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62 | [Iy1 Ix1] = size(I1); |
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63 | [DepthY1 DepthX1] = size(ModelInfo1.Model.Depth.FitDepth); |
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64 | [Iy2 Ix2] = size(I2); |
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65 | [DepthY2 DepthX2] = size(ModelInfo2.Model.Depth.FitDepth); |
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66 | |
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67 | % Proper Scaling the Depth 3-d Position and PlaneParameters (all in global scale) |
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68 | ModelInfo1.Model.PlaneParaInfo.PlanePara = ModelInfo1.Model.PlaneParaInfo.PlanePara/GlobalScale(1); |
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69 | ModelInfo1.Model.PlaneParaInfo.FitDepth = ModelInfo1.Model.PlaneParaInfo.FitDepth*GlobalScale(1); |
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70 | ModelInfo1.Model.PlaneParaInfo.Position3DFited = permute( ModelInfo1.Model.PlaneParaInfo.Position3DFited*GlobalScale(1),[ 3 1 2]); |
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71 | ModelInfo2.Model.PlaneParaInfo.PlanePara = ModelInfo2.Model.PlaneParaInfo.PlanePara/GlobalScale(2); |
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72 | ModelInfo2.Model.PlaneParaInfo.FitDepth = ModelInfo2.Model.PlaneParaInfo.FitDepth*GlobalScale(1); |
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73 | ModelInfo2.Model.PlaneParaInfo.Position3DFited = permute( ModelInfo2.Model.PlaneParaInfo.Position3DFited*GlobalScale(2),[ 3 1 2]); |
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74 | |
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75 | % correct negative z positiom |
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76 | ModelInfo1.Model.PlaneParaInfo.Position3DFited(3,:) = -ModelInfo1.Model.PlaneParaInfo.Position3DFited(3,:); |
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77 | ModelInfo2.Model.PlaneParaInfo.Position3DFited(3,:) = -ModelInfo2.Model.PlaneParaInfo.Position3DFited(3,:); |
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78 | |
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79 | % Define possible mathcing point pool |
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80 | % SurfPoint (surfFeatures that haven't been matches) |
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81 | % FaceSetPoint (Point that compose the FaceSet in Wrl) |
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82 | % Specify both Point in image Pixel position and their Index |
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83 | % (Match index for Surf Features, DepthMap index for FaceSet) |
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84 | |
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85 | % initalize FaceSetPoint--------------------- |
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86 | % ================Min to do: change to FaceSet base not Point base |
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87 | FaceSetPickedIND1 = setdiff( 1:prod([DepthY1 DepthX1]), ... |
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88 | find(ModelInfo1.Model.PlaneParaInfo.SupOri == 0)); % used the ful index except the FaceSet Points that will not rendered |
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89 | % ================================================================ |
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90 | Ray = ModelInfo1.Model.PlaneParaInfo.Ray; |
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91 | RR =permute(Ray,[2 3 1]); |
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92 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
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93 | FaceSetPoint1 = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),[Default.VertYNuDepth Default.HoriXNuDepth 1])+... |
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94 | repmat(cat(3,Default.Ox_default,Default.Oy_default),[Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
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95 | FaceSetPoint1(2,:) = 1- FaceSetPoint1(2,:); |
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96 | FaceSetPoint1 = FaceSetPoint1(:,:).*repmat([Ix1; Iy1],1,length(FaceSetPoint1(:,:))); |
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97 | %FaceSetPoint1 = FaceSetPoint1(:,FaceSetPickedIND1); |
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98 | |
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99 | % ================Min to do: change to FaceSet base not Point base (add July 4th) |
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100 | FaceSetPickedIND2 = setdiff( 1:prod([DepthY2 DepthX2]), ... |
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101 | find(ModelInfo2.Model.PlaneParaInfo.SupOri == 0)); % used the ful index except the FaceSet Points that will not rendered |
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102 | % ================================================================ |
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103 | Ray = ModelInfo2.Model.PlaneParaInfo.Ray; |
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104 | RR =permute(Ray,[2 3 1]); |
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105 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
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106 | FaceSetPoint2 = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),[Default.VertYNuDepth Default.HoriXNuDepth 1])+... |
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107 | repmat(cat(3,Default.Ox_default,Default.Oy_default),[Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
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108 | FaceSetPoint2(2,:) = 1- FaceSetPoint2(2,:); |
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109 | FaceSetPoint2 = FaceSetPoint2(:,:).*repmat([Ix2; Iy2],1,length(FaceSetPoint2(:,:))); |
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110 | %FaceSetPoint2 = FaceSetPoint2(:,FaceSetPickedIND2); |
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111 | % ------------------------------------------------ |
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112 | |
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113 | % initialize SurfPoint--------------- |
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114 | if SurfFlag |
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115 | [SurfPoint1] = readSurf(Img1, defaultPara.Fdir, 'Dense'); % original features |
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116 | [SurfPoint2] = readSurf(Img2, defaultPara.Fdir, 'Dense'); % original features |
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117 | |
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118 | % Modified the ModelInfo to have the structure with the same number of SurfPoint |
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119 | ModelInfo1_surf = ModelInfo1; |
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120 | [SurfPoint2DepthMapApproxIND1] = ProjPosi2Mask( [Iy1 Ix1], [DepthY1 DepthX1], SurfPoint1); |
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121 | x_calib_1 = inv(defaultPara.InrinsicK1)*[ SurfPoint1; ones(1,size(SurfPoint1,2))]; |
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122 | ray_1 = x_calib_1./repmat(sqrt( sum(x_calib_1.^2,1) ),3,1); |
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123 | Depth_1 = 1./sum( ModelInfo1.Model.PlaneParaInfo.PlanePara(:,ModelInfo1.Model.PlaneParaInfo.Sup2Para(ModelInfo1.Model.PlaneParaInfo.SupEpand(SurfPoint2DepthMapApproxIND1))).*ray_1, 1); |
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124 | Position3d_1 = ray_1.*repmat(Depth_1,3,1); |
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125 | % modified the structure of FitDepth and Position3DFited |
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126 | ModelInfo1_surf.Model.PlaneParaInfo.FitDepth = Depth_1; |
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127 | ModelInfo1_surf.Model.PlaneParaInfo.Position3DFited = Position3d_1; |
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128 | |
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129 | ModelInfo2_surf = ModelInfo2; |
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130 | [SurfPoint2DepthMapApproxIND2] = ProjPosi2Mask( [Iy2 Ix2], [DepthY2 DepthX2], SurfPoint2); |
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131 | x_calib_2 = inv(defaultPara.InrinsicK2)*[SurfPoint2; ones(1,length(SurfPoint2))]; |
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132 | ray_2 = x_calib_2./repmat(sqrt( sum(x_calib_2.^2,1) ),3,1); |
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133 | Depth_2 = 1./sum( ModelInfo2.Model.PlaneParaInfo.PlanePara(:,ModelInfo2.Model.PlaneParaInfo.Sup2Para(ModelInfo2.Model.PlaneParaInfo.SupEpand(SurfPoint2DepthMapApproxIND2))).*ray_2, 1); |
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134 | Position3d_2 = ray_2.*repmat(Depth_2,3,1); |
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135 | % modified the structure of FitDepth and Position3DFited |
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136 | ModelInfo2_surf.Model.PlaneParaInfo.FitDepth = Depth_2; |
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137 | ModelInfo2_surf.Model.PlaneParaInfo.Position3DFited = Position3d_2; |
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138 | |
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139 | % get rid of matches SurfFeaturePoints (to aviod conflict in triangulation) |
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140 | SurfPickedIND1 = setdiff(1:size(SurfPoint1,2), Pair.matches(1,:)); % might use random pick surf Points if there are too many |
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141 | SurfPickedIND2 = setdiff(1:size(SurfPoint2,2), Pair.matches(2,:)); |
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142 | %SurfPoint1 = SurfPoint1(:,SurfPickedIND1); |
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143 | %SurfPoint2 = SurfPoint2(:,SurfPickedIND2); |
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144 | end |
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145 | |
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146 | % Region by picking Img1 |
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147 | T1_hat = [[0 -Pair.T(3) Pair.T(2)];... |
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148 | [Pair.T(3) 0 -Pair.T(1)];... |
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149 | [-Pair.T(2) Pair.T(1) 0]]; |
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150 | F1 = inv(defaultPara.InrinsicK2)'*T1_hat*Pair.R*inv(defaultPara.InrinsicK1); |
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151 | if SurfFlag |
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152 | [POriReprojM1 TargetIND1 OccluedFaceSetIND1 FieldOccluPix1 OcluedDist1 FieldFaceSetIDRemained1] = ... |
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153 | FindOccluPoint(defaultPara, [Iy2 Ix2], I1, I2, F1, ... |
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154 | SurfPoint1(:,SurfPickedIND1), FaceSetPoint2(:,FaceSetPickedIND2), SurfPickedIND1, FaceSetPickedIND2, ... |
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155 | ModelInfo1_surf, ModelInfo2, Pair); |
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156 | PointPix1 = SurfPoint1(:,TargetIND1); |
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157 | PointDepth1 = Depth_1(TargetIND1); |
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158 | % Structure Define: |
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159 | % POriReprojM1 TargetIND1 OccluedFaceSetIND1 FieldOccluPix1 OcluedDist1 |
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160 | % -- all of the size that single ray pass through both FaceSet |
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161 | % OccluedFaceSetIND1 used in DepthMap size |
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162 | % "Notice" TargetIND1 is im surfFeature size |
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163 | else |
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164 | [POriReprojM1 TargetIND1 OccluedFaceSetIND1 FieldOccluPix1 OcluedDist1 FieldFaceSetIDRemained1] = ... |
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165 | FindOccluPoint(defaultPara, [Iy2 Ix2], I1, I2, F1, ... |
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166 | FaceSetPoint1(:,FaceSetPickedIND1), FaceSetPoint2(:,FaceSetPickedIND2), FaceSetPickedIND1, FaceSetPickedIND2, ... |
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167 | ModelInfo1, ModelInfo2, Pair); |
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168 | PointPix1 = FaceSetPoint1(:,TargetIND1); |
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169 | PointDepth1 = ModelInfo1.Model.PlaneParaInfo.FitDepth(TargetIND1); |
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170 | % Structure Define: |
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171 | % POriReprojM1 TargetIND1 OccluedFaceSetIND1 FieldOccluPix1 OcluedDist1 |
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172 | % -- all of the size that single ray pass through both FaceSet |
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173 | % OccluedFaceSetIND1 and TargetIND1 used in DepthMap size |
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174 | end |
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175 | save /afs/cs/group/reconstruction3d/scratch/testE/OccluPointFind.mat |
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176 | % Region by picking Img2 |
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177 | Pair2.T = -Pair.R'*Pair.T; |
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178 | Pair2.R = Pair.R'; |
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179 | Pair2.Xim = Pair.Xim([3 4 1 2],:); |
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180 | if SurfFlag |
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181 | [POriReprojM2 TargetIND2 OccluedFaceSetIND2 FieldOccluPix2 OcluedDist2 FieldFaceSetIDRemained2] = ... |
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182 | FindOccluPoint(defaultPara, [Iy1 Ix1], I2, I1, F1', SurfPoint2(:,SurfPickedIND2), FaceSetPoint1(:,FaceSetPickedIND1), ... |
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183 | SurfPickedIND2, FaceSetPickedIND1, ModelInfo2_surf, ModelInfo1, Pair2); |
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184 | PointPix2 = SurfPoint2(:,TargetIND2); |
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185 | PointDepth2 = Depth_2(TargetIND2); |
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186 | % Structure Define: |
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187 | % POriReprojM2 TargetIND2 OccluedFaceSetIND2 FieldOccluPix2 OcluedDist2 |
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188 | % -- all of the size that single ray pass through both FaceSet |
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189 | % OccluedFaceSetIND2 used in DepthMap size |
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190 | % "Notice" TargetIND2 is im surfFeature size |
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191 | else |
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192 | [POriReprojM2 TargetIND2 OccluedFaceSetIND2 FieldOccluPix2 OcluedDist2 FieldFaceSetIDRemained2] = ... |
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193 | FindOccluPoint(defaultPara, [Iy1 Ix1], I2, I1, F1', FaceSetPoint2(:,FaceSetPickedIND2), FaceSetPoint1(:,FaceSetPickedIND1), ... |
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194 | FaceSetPickedIND2, FaceSetPickedIND1, ModelInfo2, ModelInfo1, Pair2); |
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195 | PointPix2 = FaceSetPoint2(:,TargetIND2); |
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196 | PointDepth2 = ModelInfo2.Model.PlaneParaInfo.FitDepth(TargetIND2); |
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197 | % Structure Define: |
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198 | %OccluedFaceSetIND2 used in DepthMap size |
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199 | end |
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200 | save /afs/cs/group/reconstruction3d/scratch/testE/OccluPointFind.mat |
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201 | |
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202 | |
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203 | % Display |
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204 | if false %defaultPara.Flag.FindOcclu |
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205 | MaskPositiveDist1 = OccluDist1 >1; |
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206 | MaskPositiveDist2 = OccluDist2 >1; |
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207 | |
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208 | |
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209 | figure; |
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210 | MaxD1 = ones(1, sum(MaskPositiveDist1)); |
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211 | MinD1 = MaxD1; |
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212 | MaxD2 = ones(1, sum(MaskPositiveDist2)); |
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213 | MinD2 = MaxD2; |
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214 | |
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215 | dispMatchSearchRegin(I1, I2,[ PointPix1(:,MaskPositiveDist1); ones(1, sum(MaskPositiveDist1))], ... |
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216 | [ PointPix2(:,MaskPositiveDist2); ones(1, sum(MaskPositiveDist2))], ... |
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217 | Region1(:,MaskPositiveDist1), Region2(:,MaskPositiveDist2), F1, ... |
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218 | POriReprojM1(:,MaskPositiveDist1), MaxD1, PoccluM1(:,MaskPositiveDist1), MinD1, ... |
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219 | POriReprojM2(:,MaskPositiveDist2), MaxD2, PoccluM2(:,MaskPositiveDist2), MinD2, ... |
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220 | 0, 'Stacking', 'v', 'Interactive', 0); |
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221 | end |
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