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 | % This script initialize all the parameter |
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40 | % category include: |
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41 | % 1) GPS parameter |
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42 | % 2) camera parameter |
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43 | % 3) mono-info parameter |
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44 | % 4) Specified folder |
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45 | % 5) Features and Matching Parameter |
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46 | % 6) Optimization parameter |
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47 | |
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48 | % 1. GPS parameter |
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49 | % foun from http://en.wikipedia.org/wiki/Earth_radius |
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50 | defaultPara.ellip_equatorial_radius = 6378.137e3;%6378.135e3; % in meters |
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51 | defaultPara.ellip_polar_radius = 6356.75231e3;%6356.750e3;% in meters |
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52 | |
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53 | % 2. camera parameter |
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54 | % Default camera intrinsic parameters (image pixel coordinate) from kyles' data |
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55 | % assuming camera is horizontal pose (1704 by 2272) |
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56 | defaultPara.fy = 2400.2091651084; |
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57 | defaultPara.fx = 2407.3312729885838; |
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58 | defaultPara.Ox = 1110.7122391785729;%1704/2; |
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59 | defaultPara.Oy = 833.72104535435108;%2272/2; |
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60 | defaultPara.InrinsicK1 = [ [defaultPara.fx 0 defaultPara.Ox];... |
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61 | [0 -defaultPara.fy defaultPara.Oy];... |
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62 | [0 0 1]]; |
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63 | defaultPara.InrinsicK2 = defaultPara.InrinsicK1; |
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64 | defaultPara.R = eye(3); |
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65 | defaultPara.T = zeros(3,1); |
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66 | defaultPara.Scale = 1; |
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67 | |
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68 | % 3. mono-info parameter |
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69 | defaultPara.ParaFolder = '/afs/cs/group/reconstruction3d/scratch/Para/'; |
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70 | defaultPara.taskName = ''; |
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71 | defaultPara.Flag = Flag; |
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72 | defaultPara.Flag.DisplayFlag = 0; |
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73 | defaultPara.Flag.IntermediateStorage = 0; |
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74 | defaultPara.Flag.FeaturesOnly = 0; |
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75 | defaultPara.Flag.NormalizeFlag = 1; |
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76 | defaultPara.Flag.BeforeInferenceStorage = 1; |
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77 | defaultPara.Flag.NonInference = 0; |
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78 | defaultPara.Flag.AfterInferenceStorage = 1; |
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79 | defaultPara.Flag.FeatureStorage = 0; |
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80 | |
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81 | |
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82 | |
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83 | % 4. Specified folder |
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84 | defaultPara.Fdir = Fdir; |
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85 | defaultPara.ScratchFolder = [Fdir '/data/']; |
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86 | %defaultPara.ScratchFolder = '/afs/cs/group/reconstruction3d/scratch/temp'; |
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87 | %defaultPara.OutPutFolder = '/afs/cs/group/reconstruction3d/scratch/3DmodelMultipleImage/'; |
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88 | defaultPara.OutPutFolder = [Fdir '/Wrl/'];%defaultPara.ScratchFolder; |
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89 | |
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90 | % 5. Features and Matching Parameter |
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91 | defaultPara.Type = '_RConS'; |
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92 | |
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93 | % 6. Optimization parameter |
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94 | defaultPara.TriLeastSquare = 1; |
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95 | defaultPara.opt = sdpsettings('solver','sedumi','cachesolvers',1,'removeequalities',2,'verbose',0); |
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96 | |
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97 | % 7. Rendering Parameter |
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98 | defaultPara.Wrlname = 'Multi'; |
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99 | defaultPara.RenderFlag = true; |
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100 | |
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101 | % surf and matching parameter |
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102 | defaultPara.AbsThre = 0.2; |
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103 | defaultPara.RatioThre = 0.6; |
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104 | defaultPara.VertVar = 0.25;% in percentage |
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105 | defaultPara.MaxRatio = 300; %Min changed |
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106 | defaultPara.MinimumNumMatches = 50; |
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107 | defaultPara.ReProjErrorThre = 1; |
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108 | defaultPara.NegativeDepthTolerence = 0.5; |
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109 | defaultPara.surf.SparseThre = 30000; |
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110 | defaultPara.surf.DenseThre = 15000; |
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111 | defaultPara.OccluDistThre = 10; % occlusion bigger than defaultPara.OccluDistThre then triangulate |
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112 | defaultPara.radius2imageSizeRatio = 100; % used by CalMatchDensityWeights.m |
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113 | |
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114 | % Ransac |
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115 | defaultPara.MAXEnsembleSamples = 10000; |
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116 | |
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117 | % Model parameter |
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118 | defaultPara.InitialDepth = 'RawDepth'; |
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119 | defaultPara.FarestDist = 1e3; % Do not model structure lkm away from the camera |
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120 | defaultPara.Closestdist = 1; % Do not model structure 1m away from the camera |
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121 | |
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122 | % other |
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123 | %defaultPara.FlagFirstPair = 1; |
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124 | defaultPara.LastImgFlag = 0; |
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125 | |
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126 | % Refinement Thre |
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127 | defaultPara.CoeffMThre = 0.8; |
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128 | defaultPara.ResidualThre = 5; |
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129 | defaultPara.coeffratioThre = 0.8; |
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130 | defaultPara.PostFixStrAfter = 'PairNew'; |
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131 | defaultPara.MaxUniqueRatio = 50; |
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132 | defaultPara.OcclusionRatioThre = 1.1; |
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