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 []= main( Fdir, PairList, Wrlname, defaultPara); |
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40 | |
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41 | % This function is the main function tha handle: |
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42 | % 1) Extracting info mation : Exif GPS IMU |
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43 | % 2) Pair Image Metric Reconstruction |
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44 | |
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45 | MainTime = tic; % Start counting time ============================= |
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46 | pause off; |
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47 | |
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48 | if nargin < 2 |
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49 | PairList = []; |
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50 | end |
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51 | % initialize parameters |
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52 | defaultPara.Wrlname = [defaultPara.Wrlname '_' Wrlname]; |
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53 | |
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54 | % initialize variables ============================================ |
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55 | ImgInfo = []; |
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56 | [status currdir] = system([ 'ls ' Fdir '/data/ModelStatus/']); |
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57 | if status |
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58 | [status currdir] = system([ 'mkdir ' Fdir '/data/ModelStatus/']); % Min add July 1st; |
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59 | end |
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60 | [status currdir] = system([ 'ls ' Fdir '/info/']); |
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61 | if status |
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62 | [status currdir] = system([ 'mkdir ' Fdir '/info/']); % Min add Aug 17th; |
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63 | end |
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64 | |
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65 | if defaultPara.Flag.NewModelList |
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66 | ImgAddedList = cell(0); % cell array for names |
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67 | else |
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68 | load([ Fdir '/data/ModelStatus/' defaultPara.Wrlname '.mat']); |
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69 | NumImg = length(ModelStatus); |
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70 | for i = 1:NumImg |
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71 | ImgAddedList{i} = ModelStatus(i).ImgName; |
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72 | end |
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73 | end |
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74 | |
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75 | % initialize preacquired infomation ============================== |
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76 | fprintf('Pre - Acquired Info .....'); |
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77 | if defaultPara.Flag.FlagImgInfoLoadPreStorage == 0 |
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78 | [ImgInfo] = ExifExtractDir(Fdir,ImgInfo); % Exif info |
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79 | % 1) Extracting info |
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80 | [ImgInfo] = ExtractGPSInfo(defaultPara, Fdir, ImgInfo); % GPS info |
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81 | [ImgInfo] = ExtractRotationInfo( defaultPara, Fdir, ImgInfo); % IMU info |
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82 | % write into .kml file for google earth to display |
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83 | |
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84 | save([Fdir '/data/ImgInfo.mat'],'ImgInfo'); |
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85 | elseif defaultPara.Flag.FlagImgInfoLoadPreStorage == 1 |
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86 | [ImgInfo] = ExifExtractDir(Fdir,ImgInfo); % Exif info |
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87 | % read from google earth .kml file |
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88 | temp = dir([Fdir '/info/*.kml']); |
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89 | [ ImgInfo ] = ExtractGoogleEarthInfo(ImgInfo, [Fdir '/info/' temp.name]); |
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90 | [ ImgInfo ] = AllXWorld(defaultPara, ImgInfo); %X_world info |
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91 | % [ImgInfo] = InfoInitialize(ImgInfo); % initialize everything |
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92 | save([Fdir '/data/ImgInfo.mat'],'ImgInfo'); |
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93 | elseif defaultPara.Flag.FlagImgInfoLoadPreStorage == 2 |
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94 | [ImgInfo] = ExifExtractDir(Fdir,ImgInfo); % Exif info |
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95 | [ImgInfo] = ExtractRotationInfo( defaultPara, Fdir, ImgInfo); % IMU info |
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96 | % read from google earth .kml file |
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97 | temp = dir([Fdir '/info/*.kml']); |
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98 | [ ImgInfo ] = ExtractGoogleEarthInfo(ImgInfo, [Fdir '/info/' temp.name]); |
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99 | [ ImgInfo ] = AllXWorld(defaultPara, ImgInfo); %X_world info |
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100 | % [ImgInfo] = InfoInitialize(ImgInfo); % initialize everything |
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101 | save([Fdir '/data/ImgInfo.mat'],'ImgInfo'); |
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102 | elseif defaultPara.Flag.FlagImgInfoLoadPreStorage == 3 |
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103 | [ImgInfo] = ExifExtractDir(Fdir,ImgInfo); % Exif info |
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104 | save([Fdir '/data/ImgInfo.mat'],'ImgInfo'); |
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105 | else |
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106 | load([ Fdir '/data/ImgInfo.mat']); % // used for hand tune GPS and IMU info //Bad |
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107 | end |
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108 | disp([' ' num2str( toc( MainTime)) ' seconds.']); |
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109 | |
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110 | % SurfFeatures generation ========================================= |
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111 | fprintf('Calculating Surf Features ......'); |
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112 | MakeSureSurfDone(defaultPara, ImgInfo); |
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113 | disp([' ' num2str( toc( MainTime)) ' seconds.']); |
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114 | |
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115 | % start loop by getting input ===================================== |
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116 | NuPair = size(PairList,1); |
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117 | ReadImgCount = 1; |
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118 | while length(ImgAddedList) <= length(ImgInfo) |
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119 | |
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120 | % request user input |
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121 | if ReadImgCount > NuPair && defaultPara.Flag.NewInput |
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122 | disp('enter pair of image''s names'); |
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123 | if isempty(ImgA) || isempty(ImgB) |
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124 | ImgA = input('add image A', 's'); |
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125 | ImgB = input('add image B', 's'); |
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126 | end |
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127 | elseif ReadImgCount <= NuPair |
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128 | ImgA = PairList{ReadImgCount,1}; |
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129 | ImgB = PairList{ReadImgCount,2}; |
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130 | else |
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131 | % if ReadImgCount > NuPair && ~defaultPara.Flag.NewInput |
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132 | % ( Do not allow to add images manually) |
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133 | break; |
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134 | end |
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135 | |
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136 | if ReadImgCount == NuPair |
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137 | defaultPara.LastImgFlag = 1; |
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138 | end |
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139 | ReadImgCount = ReadImgCount +1; |
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140 | |
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141 | % find ImgInfo index for ImgA ImgB |
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142 | [ImgAIndex] = ImgInfoIndexFromName(ImgInfo, ImgA); |
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143 | [ImgBIndex] = ImgInfoIndexFromName(ImgInfo, ImgB); |
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144 | |
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145 | % Metric reconstruction |
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146 | fprintf('Start Metric Reconstruction ....') |
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147 | [defaultPara NewImgInfo fail] = MetricRecon(defaultPara, ImgInfo([ImgAIndex ImgBIndex])); |
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148 | disp([' ' num2str( toc( MainTime)) ' seconds.']); |
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149 | if fail > 0 |
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150 | disp('Failed ............... End of main.m'); |
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151 | return; |
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152 | end |
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153 | ImgInfo(ImgAIndex ).Model = []; |
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154 | ImgInfo(ImgBIndex ).Model = []; |
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155 | ImgInfo(ImgAIndex ) = NewImgInfo(1); |
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156 | ImgInfo(ImgBIndex ) = NewImgInfo(2); |
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157 | |
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158 | % add ImgAddedList with ImgA and ImgB |
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159 | ImgAddedList{end+1} = ImgA; |
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160 | ImgAddedList{end+1} = ImgB; |
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161 | |
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162 | % reset |
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163 | ImgA = []; |
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164 | ImgB = []; |
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165 | defaultPara.Flag.FlagFirstPair = 0; |
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166 | end |
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167 | |
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168 | pause on; |
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169 | disp('End of main.m'); |
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170 | return; |
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