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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