[37] | 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_calib_sc.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 | for(i = 1:no_test)
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| 18 |
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| 19 | % [true_F,x1,y1,x2,y2,nx1,ny1,nx2,ny2] = ...
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| 20 | % torr_gen_2view_matches(foc, no_matches, noise_sigma, translation_mult, translation_adder, ...
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| 21 | % rotation_multplier, min_Z,Z_RAN,m3);
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| 22 | [true_F,x1,y1,x2,y2,nx1,ny1,nx2,ny2,true_C,true_R,true_TX, true_E] = torr_gen_2view_matches;
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| 23 |
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| 24 | no_matches = length(nx1);
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| 25 |
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| 26 | %if we set this to one then the result should be the same as the groundtruth...
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| 27 | no_noise = 1;
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| 28 | if (no_noise)
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| 29 | disp('just using noise free points');
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| 30 | nx1 = x1;
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| 31 | nx2 = x2;
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| 32 | ny1 = y1;
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| 33 | ny2 = y2;
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| 34 | end
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| 35 |
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| 36 |
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| 37 |
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| 38 | matches = [nx1,ny1,nx2,ny2];
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| 39 | perfect_matches = [x1,y1,x2,y2];
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| 40 | set_rank2 = 1;
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| 41 |
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| 42 |
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| 43 | %first estimate F
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| 44 | [f, e1, n_inliers,inlier_index,nF] = torr_estimateF( matches, m3, [], method, set_rank2);
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| 45 |
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| 46 | %now guess the camera calibration matrix
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| 47 | CC = diag(ones(3,1),0);
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| 48 | CC(3,3) = 1;
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| 49 |
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| 50 | %next self calibrate for focal length
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| 51 | [focal_length, nE,CCC] = torr_self_calib_f(nF,CC);
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| 52 |
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| 53 | %now we have an Essential matrix we can establish the camera frame...
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| 54 | [P1,P2,R,t,srot_axis,rot_angle,g] = torr_linear_EtoPX(nE,matches,CCC,m3);
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| 55 |
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| 56 | %next convert the 6 parameters of g to a fundamental matrix
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| 57 | f2 = torr_g2F(g,CCC);
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| 58 | disp('error before non-linear minimization')
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| 59 | e = torr_errf2(f2, nx1,ny1,nx2,ny2, length(nx1), m3);
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| 60 | norm(e)
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| 61 |
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| 62 | [g,f] = torr_nonlinG(g ,nx1,ny1,nx2,ny2, no_matches, m3, CCC)
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| 63 |
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| 64 |
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| 65 | disp('error after')
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| 66 | e2 = torr_errf2(f, nx1,ny1,nx2,ny2, length(nx1), m3);
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| 67 | norm(e2)
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| 68 |
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| 69 |
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| 70 | %the question now arises: how good is the fit? compare to groundtruth
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| 71 | true_rot_axis = [true_R(3,2)-true_R(2,3), true_R(1,3) - true_R(3,1), true_R(2,1) - true_R(1,2)]';
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| 72 | true_rot_axis = true_rot_axis /norm(true_rot_axis);
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| 73 | true_rot_angle = acos( (trace(true_R)-1)/2);
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| 74 |
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| 75 | true_t(1) = -true_TX(2,3);
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| 76 | true_t(2) = true_TX(1,3);
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| 77 | true_t(3) = -true_TX(1,2);
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| 78 | true_t = true_t/norm(true_t);
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| 79 |
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| 80 |
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| 81 | disp('true camera parameters')
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| 82 | true_t
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| 83 | true_rot_axis
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| 84 | true_rot_angle
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| 85 | true_C
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| 86 |
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| 87 |
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| 88 | rot_axis = torr_sphere2unit([g(2) g(3)]);
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| 89 | tt = torr_sphere2unit([g(5) g(6)]);
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| 90 | rot_angle = g(4);
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| 91 |
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| 92 | CCC(3,3) = 1/g(1);
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| 93 |
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| 94 | disp('estimated camera parameters')
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| 95 | tt
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| 96 | rot_axis
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| 97 | rot_angle
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| 98 | CCC
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| 99 | end
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