[37] | 1 | Scaling: |
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| 2 | 1) Individual model scale: the depth scale generated from Mono-inference |
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| 3 | - ImgInfo.Model.Depth.... |
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| 4 | - ImgInfo.Model.Constrain.Depth_modified % matched triangulated depth |
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| 5 | - ImgInfo.Model.PlaneParaInfo.PlanePara |
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| 6 | - ImgInfo.Model.PlaneParaInfo.FitDepth |
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| 7 | - ImgInfo.Model.PlaneParaInfo.Position3DFited |
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| 8 | 2) PairMatchScale |
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| 9 | - Pair.T |
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| 10 | - Pair.lamda |
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| 11 | 3) GlobalModelScale |
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| 12 | - |
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| 13 | |
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| 14 | Scale Transform: |
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| 15 | 1) Pair.DepthScale: Individual model scale*Pair.DepthScale = PairMatchScale |
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| 16 | 2) ModelStatus.Scale: Individual model scale*ModelStatus.Scale = GlobalModelScale |
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| 17 | |
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| 18 | Storaged Data Structure |
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| 19 | |
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| 20 | 0) First stage data from GPS, IMU, and Google earth modification |
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| 21 | Description: |
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| 22 | ImgInfo in the camera Exif file |
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| 23 | Geo info from GPS and Modified by Google Earth |
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| 24 | Orientation info from IMU and Modified by Google Earth |
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| 25 | |
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| 26 | Path: |
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| 27 | ./data/ |
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| 28 | |
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| 29 | FileName: |
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| 30 | ImgInfo.mat |
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| 31 | |
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| 32 | Variables: |
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| 33 | ImgInfo - Struture |
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| 34 | .ExifInfo - Struture |
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| 35 | .name - String, the name of the image (including file extension) |
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| 36 | --------------- |
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| 37 | all other infomation depending on your camera default |
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| 38 | ex: .FocalLength |
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| 39 | --------------- |
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| 40 | .Geo - Structure |
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| 41 | .Longitude - double |
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| 42 | .Latitude - double |
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| 43 | .altitude - double |
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| 44 | .Rw - 3 x 1, [ Pitch Yaw Roll] |
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| 45 | .X_world - 3 by 1, global Cartesian coordinate, calculated from Geo infomation |
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| 46 | Comments: |
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| 47 | |
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| 48 | |
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| 49 | 1) Individual image infomation |
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| 50 | |
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| 51 | Description: |
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| 52 | Infomation of indiviual image infomation |
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| 53 | Start form Mono-infomation |
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| 54 | Then evlove with Matches infomation |
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| 55 | and Occlusion Refinement infomation |
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| 56 | (Notice always maintained in the Scale of beginning Mono-Model) |
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| 57 | |
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| 58 | Path: |
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| 59 | ./data/"Img1Name"/ |
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| 60 | FileName: |
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| 61 | "WrlName"_"Img1Name"_"PostFix".mat |
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| 62 | (ex: Multi_IMG_0606_Mono.mat) |
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| 63 | |
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| 64 | Variables: |
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| 65 | model - structure |
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| 66 | (From Mono) |
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| 67 | .Depth - Structure |
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| 68 | .FitDepth (nxm) double, DepthMap after Mono PlaneParameter Model fiting depths |
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| 69 | .RawDepth (nxm) double, DepthMap from image learning |
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| 70 | .Ray - 3xnxm double, unit 3-d vector indiacte the track of ray a specific image point come from |
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| 71 | ( 3DPosition = Ray(:,:).*repmat(FitDepth(:)',3,1)) |
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| 72 | .Sup - nxm integer, index that group each point into a Superpixel |
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| 73 | .maskG - nxm logical, 1 indicated Ground |
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| 74 | .maskSky - nxm logical, 1 indicated sky |
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| 75 | .SupNeighborTable - MaxIndexSup x MaxIndexSup, is a look up table of which Sups are neighboring each other |
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| 76 | .MultiScaleSupTable - NumUniqueSup x 14(14 type of Bigger group of points) |
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| 77 | |
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| 78 | (From Matches) |
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| 79 | .Constrain - Structure |
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| 80 | .RayMatche - NumMatches x 3, the Ray that correspoding to the matches feature points |
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| 81 | .Depth_modified - 1 x NumMatches, the triangulated depth in Indivial Model Scale |
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| 82 | .SupMatched - NumMatches x 1, the sup index of the matches |
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| 83 | |
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| 84 | (UptoDate Model after any Re-Inference) |
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| 85 | .PlaneParaInfo - Structure |
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| 86 | .PlanePara - 3 by NumUniqueSup, the plane parameter after Re-inference in Indivial Model Scale |
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| 87 | .Sup2Para - 1 by MaxIndexofSupEpand, since not all the sup have a PlaneParameter, |
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| 88 | Sup2Para is the hash table of Sup Index to PlaneParameter Index |
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| 89 | .SupEpand - nxm integer, Superpixel index after some Process to clean the Sky Boundary |
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| 90 | .maskSkyEroded - nxm logical, new sky mask after some process |
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| 91 | .Ray - 3xnxm double, unit 3-d vector indiacte the track of ray a specific image point come from |
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| 92 | ( 3DPosition = Ray(:,:).*repmat(FitDepth(:)',3,1)) |
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| 93 | .PositionTex - n x m x 2 double, used my VRMl rendering |
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| 94 | (ex: PositionTex(:,:,1) are the X position of the FaceSet Points in the range from 0 to 1) |
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| 95 | .FitDepth - (nxm) double, DepthMap after Mono PlaneParameter Model fiting depths |
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| 96 | .Position3DFited - (n x m x 3) double, 3D position of each FaceSet Points |
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| 97 | .SupOri - nxm integer, index that group each point into a Superpixel |
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| 98 | |
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| 99 | (From Refinement) |
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| 100 | .ConstrainOccluMatch |
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| 101 | Comments: |
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| 102 | |
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| 103 | |
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| 104 | 2) Pair image infomation |
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| 105 | % ============================================================================ |
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| 106 | Description: |
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| 107 | Infomation obtained after matching pair of images |
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| 108 | |
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| 109 | Path: |
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| 110 | ./data/ |
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| 111 | |
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| 112 | FileName: |
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| 113 | "Img1Name"_"Img2Name"_PoseMatch.mat |
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| 114 | |
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| 115 | Variables: |
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| 116 | Error - integer from -1 to 6, indicating different error type when matched |
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| 117 | Matches - (2 by NumMatches) integer, indicating the index of the whole surf Features Set |
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| 118 | Pair - Structure |
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| 119 | .R - 3x3 double, the rotation matrix from Img1 Coordinate to Img2 Coordinate |
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| 120 | .T - 3x1 double, the translation matrix from Img1 Coordinate to Img2 Coordinate |
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| 121 | (ex: X2 = R*X1+T) |
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| 122 | .Xim - 4 by NumMatches integer, |
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| 123 | Xim(1:2,:) indicating the (X Y) position (in pixel) of the Matched points in Img1 |
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| 124 | Xim(3:4,:) indicating the (X Y) position (in pixel) of the Matched points in Img2 |
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| 125 | .lamda - 2 by NumMatches double, |
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| 126 | lamda(1,:) is the triangulated depths in Img1 in Pair Match Scale |
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| 127 | lamda(2,:) is the triangulated depths in Img2 in Pair Match Scale |
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| 128 | .DepthScale - 2x1 double, indicate the Scaling factoe when applying the single model depths the the triangulated depths |
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| 129 | (ex: DepthScale(1)*IndivialModelDepth = PairMatchedDepths in Img1) |
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| 130 | .t -empty |
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| 131 | Comments: |
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| 132 | Should merge Error and Matches into Pair.Error Pair.Matches, |
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| 133 | and erase Pair.t |
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| 134 | % =============================================================================== //Min to do |
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| 135 | Description: |
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| 136 | Path: |
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| 137 | ./data/ |
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| 138 | |
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| 139 | FileName: |
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| 140 | "Img1Name"_"Img2Name"_OccluDetect_Ray.mat |
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| 141 | |
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| 142 | Variables: |
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| 143 | Comments: |
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| 144 | |
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| 145 | % =============================================================================== |
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| 146 | 3) Whole model infomation |
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| 147 | |
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| 148 | Template - |
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| 149 | |
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| 150 | Description: |
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| 151 | Path: |
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| 152 | FileName: |
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| 153 | Variables: |
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| 154 | Comments: |
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| 155 | |
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