[37] | 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 [F, inliers, fail] = ransacmatches(defaultPara, f1, f2, matches, I1, I2, disp) |
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| 40 | % Computes the fundamental matrix and inlier matches using ransac. Points |
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| 41 | % are sampled non-uniformly in order to prefer more matches that are spread |
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| 42 | % across the image. Otherwise the algorithm is standard. |
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| 43 | % input: f1 - x,y coordinates of all feature frames in image 1 |
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| 44 | % f2 - same for image 2 |
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| 45 | % matches - 2 by nummatches array specifying the initial set of |
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| 46 | % possible matches between f1 and f2 |
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| 47 | % I1/I2 - optional images to display |
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| 48 | % disp - if true, display the matches found when done. |
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| 49 | |
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| 50 | x1 = []; |
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| 51 | x2 = []; |
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| 52 | |
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| 53 | nmatches = size(matches, 2) |
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| 54 | for i=1:nmatches |
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| 55 | x1(i, 1:2) = f1(1:2, matches(1, i)); |
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| 56 | x2(i, 1:2) = f2(1:2, matches(2, i)); |
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| 57 | end |
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| 58 | |
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| 59 | % calculate distances |
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| 60 | % d1 is the sum of the squares of the distance from each point |
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| 61 | % in im1 to every other point |
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| 62 | % will use dist (the normalized avg distance for that match) |
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| 63 | % to weight the sampling algorithm for ransac |
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| 64 | d1=[]; |
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| 65 | d2=[]; |
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| 66 | for i=1:nmatches |
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| 67 | d1(i) = sum(sum( ((ones(nmatches, 1) * x1(i, 1:2)) - x1).^2)); |
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| 68 | d2(i) = sum(sum( ((ones(nmatches, 1) * x2(i, 1:2)) - x2).^2)); |
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| 69 | end |
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| 70 | dist=(d1+d2)/sum(sum(d1+d2)); |
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| 71 | |
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| 72 | % Assemble homogeneous feature coordinates for fitting of the |
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| 73 | % fundamental matrix, note that [x,y] corresponds to [col, row] |
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| 74 | x1 = [x1'; ones(1, length(x1))]; %[m1(2,:); m1(1,:); ones(1,length(m1))]; |
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| 75 | x2 = [x2'; ones(1, length(x1))]; %[m2(2,:); m2(1,:); ones(1,length(m1))]; |
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| 76 | |
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| 77 | t = .002; % Distance threshold for deciding outliers |
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| 78 | t_more = .001; % Distance threshold for deciding outliers (MS added) |
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| 79 | |
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| 80 | [F, inliers, fail] = ransacfitfundmatrix(defaultPara, x1, x2, t, zeros(2), zeros(2), dist, 1, 1, 0); |
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| 81 | % [inliers_more] = ransacPrune(F, x1, x2, t_more, 1, dist); % MS added |
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| 82 | |
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| 83 | if disp |
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| 84 | figure(2) ; clf ; |
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| 85 | plotmatches(I1,I2,f1, f2,matches(:, inliers), 'Stacking', 'v'); %, 'Interactive', 1) ; |
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| 86 | vgg_gui_F(I1, I2, F'); |
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| 87 | end |
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