1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | %this is a script to test the self calibration stuff
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4 | %torr_test_SFMsc.m.m
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5 | %main()
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6 | %profile on
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7 | clear all;
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8 | m3 = 256;
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9 | method = 'mapsac';
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10 | method = 'linear';
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11 |
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12 |
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13 | % % do we want the same result each time
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14 | % randn('state',0)
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15 | % rand('state',0)
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16 | no_test = 1;
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17 | % [true_F,x1,y1,x2,y2,nx1,ny1,nx2,ny2] = ...
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18 | % torr_gen_2view_matches(foc, no_matches, noise_sigma, translation_mult, translation_adder, ...
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19 | % rotation_multplier, min_Z,Z_RAN,m3);
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20 | [true_F,x1,y1,x2,y2,nx1,ny1,nx2,ny2,true_C,true_R,true_TX, true_E, true_X, true_t] = torr_gen_2view_matches;
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21 |
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22 |
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23 | [true_P1, true_P2] = torr_RCT2P(true_C,true_R, true_t);
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24 | torr_display_structure(true_X, true_P1, true_P2,1);
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25 |
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26 | no_matches = length(nx1);
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27 |
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28 | %if we set this to one then the result should be the same as the groundtruth...
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29 | no_noise = 0;
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30 | if (no_noise)
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31 | nx1 = x1;
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32 | nx2 = x2;
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33 | ny1 = y1;
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34 | ny2 = y2;
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35 | end
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36 |
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37 |
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38 |
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39 | matches = [nx1,ny1,nx2,ny2];
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40 | perfect_matches = [x1,y1,x2,y2];
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41 | set_rank2 = 1;
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42 |
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43 |
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44 | %first estimate F
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45 | [f, e1, n_inliers,inlier_index,nF] = torr_estimateF( matches, m3, [], method, set_rank2);
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46 |
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47 | %now guess the camera calibration matrix
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48 | CC = diag(ones(3,1),0);
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49 | CC(3,3) = 1;
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50 |
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51 | %next self calibrate for focal length
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52 | [focal_length, nE,CCC] = torr_self_calib_f(nF,CC);
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53 |
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54 | %next correct the points so that they lie on the fundamental matrix
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55 | [corrected_matches error2] = torr_correctx4F(f, nx1,ny1,nx2,ny2, no_matches, m3);
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56 |
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57 | %corrected matches should have zero error:
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58 | e2 = torr_errf2(f, corrected_matches(:,1), corrected_matches(:,2), corrected_matches(:,3),corrected_matches(:,4), length(nx1), m3);
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59 |
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60 | %now we have an Essential matrix we can establish the camera frame...
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61 | [P1,P2,R,t,srot_axis,rot_angle,g] = torr_linear_EtoPX(nE,corrected_matches,CCC,m3);
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62 |
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63 | %non linear estimation of g (and hence f)
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64 | [g,f] = torr_nonlinG(g ,nx1,ny1,nx2,ny2, no_matches, m3, CCC);
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65 |
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66 | %next convert the 6 parameters of g to a fundamental matrix
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67 | f2 = torr_g2F(g,CCC);
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68 |
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69 | %next correct the points so that they lie on the fundamental matrix
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70 | [corrected_matches error2] = torr_correctx4F(f2, nx1,ny1,nx2,ny2, no_matches, m3);
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71 |
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72 | %next we need to obtain P1 & P2
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73 | [P1, P2] = torr_g2FP(g,CCC);
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74 |
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75 | %now use P matrices and corrected matches to get structure:
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76 | X = torr_triangulate(corrected_matches, m3, P1, P2);
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77 |
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78 | torr_display_structure(X, P1, P2, 1);
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79 |
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80 | %inlier_index = torr_robust_chieral(X,P1,P2);
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81 | %this can be used to remove outliers, see torr_tool
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82 |
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83 |
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84 | %test
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85 | XX = [X(1,:) ./ X(4,:) ; X(2,:) ./ X(4,:) ; X(3,:) ./ X(4,:) ];
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86 |
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87 | disp('ratio of estimated and true X');
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88 | XX ./true_X
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89 |
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90 |
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91 |
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92 | show_result = 0;
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93 | if show_result
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94 | disp('look at reprojection error to groundtruth points')
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95 | x1_rp = P1 * X;
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96 | x1_rp(1,:) = x1_rp(1,:) ./ x1_rp(3,:) * m3;
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97 | x1_rp(2,:) = x1_rp(2,:) ./ x1_rp(3,:) * m3;
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98 | (x1 - x1_rp(1,:)')'
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99 | (y1 - x1_rp(2,:)')'
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100 |
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101 | x2_rp = P2 * X;
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102 | x2_rp(1,:) = x2_rp(1,:) ./ x2_rp(3,:) * m3;
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103 | x2_rp(2,:) = x2_rp(2,:) ./ x2_rp(3,:) * m3;
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104 | (x2 - x2_rp(1,:)')'
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105 | (y2 - x2_rp(2,:)')'
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106 | end |
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