1 | % By Philip Torr 2002 |
---|
2 | % copyright Microsoft Corp. |
---|
3 | % |
---|
4 | % %designed for the good of the world by Philip Torr based on ideas contained in |
---|
5 | % copyright Philip Torr and Microsoft Corp 2002 |
---|
6 | % |
---|
7 | % @inproceedings{Torr93b, |
---|
8 | % author = "Torr, P. H. S. and Murray, D. W.", |
---|
9 | % title = "Outlier Detection and Motion Segmentation", |
---|
10 | % booktitle = "Sensor Fusion VI", |
---|
11 | % editor = "Schenker, P. S.", |
---|
12 | % publisher = "SPIE volume 2059", |
---|
13 | % note = "Boston", |
---|
14 | % pages = {432-443}, |
---|
15 | % year = 1993 } |
---|
16 | % |
---|
17 | % |
---|
18 | % @phdthesis{Torr:thesis, |
---|
19 | % author="Torr, P. H. S.", |
---|
20 | % title="Outlier Detection and Motion Segmentation", |
---|
21 | % school=" Dept. of Engineering Science, University of Oxford", |
---|
22 | % year=1995} |
---|
23 | % |
---|
24 | % @inproceedings{Beardsley96a, |
---|
25 | % author="Beardsley, P. and Torr, P. H. S. and Zisserman, A.", |
---|
26 | % title="{3D} Model Aquisition from Extended Image Sequences", |
---|
27 | % booktitle=eccv4.2, |
---|
28 | % editor = "Buxton, B. and Cipolla R.", |
---|
29 | % publisher = "Springer--Verlag", |
---|
30 | % pages={683--695}, |
---|
31 | % year=1996} |
---|
32 | % |
---|
33 | % |
---|
34 | % @article{Torr97c, |
---|
35 | % author="Torr, P. H. S. and Murray, D. W. ", |
---|
36 | % title="The Development and Comparison of Robust Methods for Estimating the Fundamental Matrix", |
---|
37 | % journal="IJCV", |
---|
38 | % volume = 24, |
---|
39 | % number = 3, |
---|
40 | % pages = {271--300}, |
---|
41 | % year=1997 |
---|
42 | % } |
---|
43 | % |
---|
44 | % |
---|
45 | % |
---|
46 | % |
---|
47 | % @article{Torr99c, |
---|
48 | % author = "Torr, P. H. S. and Zisserman, A", |
---|
49 | % title ="MLESAC: A New Robust Estimator with Application to Estimating Image Geometry ", |
---|
50 | % journal = "CVIU", |
---|
51 | % Volume = {78}, |
---|
52 | % number = 1, |
---|
53 | % pages = {138-156}, |
---|
54 | % year = 2000} |
---|
55 | % |
---|
56 | % %MAPSAC is the Bayesian version of MLESAC, and it is easier to pronounce! |
---|
57 | % it is described in: |
---|
58 | % |
---|
59 | % @article{Torr02d, |
---|
60 | % author = "Torr, P. H. S.", |
---|
61 | % title ="Bayesian Model Estimation and Selection for Epipolar Geometry and |
---|
62 | % Generic Manifold Fitting", |
---|
63 | % journal = "IJCV", |
---|
64 | % Volume = {?}, |
---|
65 | % number = ?, |
---|
66 | % pages = {?}, |
---|
67 | % url = "http://research.microsoft.com/~philtorr/", |
---|
68 | % year = 2002} |
---|
69 | % |
---|
70 | |
---|
71 | |
---|
72 | |
---|
73 | function varargout = torr_tool(varargin) |
---|
74 | % TORR_TOOL Application M-file for torr_tool.fig |
---|
75 | % FIG = TORR_TOOL launch torr_tool GUI. |
---|
76 | % TORR_TOOL('callback_name', ...) invoke the named callback. |
---|
77 | |
---|
78 | % Last Modified by GUIDE v2.0 21-May-2002 17:58:20 |
---|
79 | |
---|
80 | |
---|
81 | |
---|
82 | |
---|
83 | if nargin == 0 % LAUNCH GUI |
---|
84 | |
---|
85 | fig = openfig(mfilename,'reuse'); |
---|
86 | |
---|
87 | % Use system color scheme for figure: |
---|
88 | set(fig,'Color',get(0,'defaultUicontrolBackgroundColor')); |
---|
89 | |
---|
90 | % Generate a structure of handles to pass to callbacks, and store it. |
---|
91 | handles = guihandles(fig); |
---|
92 | |
---|
93 | |
---|
94 | %phils atuff added, initialization |
---|
95 | %corner parameters |
---|
96 | handles.n_corners = 2000; %max no of corners permitted/requested |
---|
97 | |
---|
98 | handles.n_corners1 = 0; %the actual number detected |
---|
99 | handles.n_corners2 = 0; |
---|
100 | |
---|
101 | handles.corner_sigma = 1.0; |
---|
102 | handles.corner_width = 3; |
---|
103 | |
---|
104 | |
---|
105 | %matchin parameters |
---|
106 | handles.max_disparity = 50; |
---|
107 | handles.match_half_size = 3; |
---|
108 | |
---|
109 | |
---|
110 | %F parameters: |
---|
111 | handles.no_samp = 500; % no of samples in the mapsac algorithm |
---|
112 | handles.f_threshold = 6.0; % f_threshold in the mapsac algorithm |
---|
113 | |
---|
114 | %calibration matrix |
---|
115 | handles.focal_length = 3; %first guess |
---|
116 | handles.aspect_ratio = 1; |
---|
117 | handles.ppx = 0; |
---|
118 | handles.ppy = 0; |
---|
119 | %work out calibration matrix |
---|
120 | C = [handles.aspect_ratio 0 handles.ppx; 0 1 handles.ppy; 0 0 1/handles.focal_length]; |
---|
121 | handles.C = C; |
---|
122 | |
---|
123 | |
---|
124 | |
---|
125 | %informational variables |
---|
126 | handles.n_matches = 0; %how many matches have we detected. |
---|
127 | |
---|
128 | |
---|
129 | %general parameters |
---|
130 | %debugt mode |
---|
131 | handles.debug = 1; |
---|
132 | handles.m3 = 256; %third homogeous pixel coordinate, chosen as 256 to help conditioning, see my thesis |
---|
133 | handles.pathname = ['C:\matlabR12\bin\']; |
---|
134 | |
---|
135 | if ~handles.debug |
---|
136 | helpdlg('Phil asks: "how ya diddling", first load some images') |
---|
137 | end |
---|
138 | |
---|
139 | |
---|
140 | set(handles.save_image1_button, 'Enable', 'off'); |
---|
141 | set(handles.save_image2_button, 'Enable', 'off'); |
---|
142 | set(handles.Save_Images_menu, 'Enable', 'off'); |
---|
143 | |
---|
144 | |
---|
145 | %for corners |
---|
146 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
147 | set(handles.save_corner_button, 'Enable', 'off'); |
---|
148 | set(handles.load_corner_button, 'Enable', 'on'); |
---|
149 | set(handles.corn_param_button, 'Enable', 'off'); |
---|
150 | |
---|
151 | %for correlation matches |
---|
152 | set(handles.match_button, 'Enable', 'off'); |
---|
153 | set(handles.match_param_button, 'Enable', 'on'); |
---|
154 | set(handles.manual_match_button, 'Enable', 'on'); |
---|
155 | set(handles.save_match_button, 'Enable', 'off'); |
---|
156 | set(handles.load_match_button, 'Enable', 'off'); |
---|
157 | |
---|
158 | %for F and correlation matches |
---|
159 | set(handles.mapsac_button, 'Enable', 'off'); |
---|
160 | set(handles.mapsac_parameters_button, 'Enable', 'on'); |
---|
161 | set(handles.save_F_button, 'Enable', 'off'); |
---|
162 | set(handles.display_epipolar_button, 'Enable', 'off'); |
---|
163 | set(handles.display_epipolar_button2, 'Enable', 'off'); |
---|
164 | set(handles.ImproveF_button, 'Enable', 'off'); |
---|
165 | |
---|
166 | %for SFM |
---|
167 | set(handles.sfm_button, 'Enable', 'off'); |
---|
168 | |
---|
169 | |
---|
170 | |
---|
171 | guidata(fig, handles); |
---|
172 | |
---|
173 | if nargout > 0 |
---|
174 | varargout{1} = fig; |
---|
175 | end |
---|
176 | |
---|
177 | elseif ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK |
---|
178 | |
---|
179 | try |
---|
180 | [varargout{1:nargout}] = feval(varargin{:}); % FEVAL switchyard |
---|
181 | catch |
---|
182 | disp(lasterr); |
---|
183 | end |
---|
184 | |
---|
185 | end |
---|
186 | |
---|
187 | |
---|
188 | %| ABOUT CALLBACKS: |
---|
189 | %| GUIDE automatically appends subfunction prototypes to this file, and |
---|
190 | %| sets objects' callback properties to call them through the FEVAL |
---|
191 | %| switchyard above. This comment describes that mechanism. |
---|
192 | %| |
---|
193 | %| Each callback subfunction declaration has the following form: |
---|
194 | %| <SUBFUNCTION_NAME>(H, EVENTDATA, HANDLES, VARARGIN) |
---|
195 | %| |
---|
196 | %| The subfunction name is composed using the object's Tag and the |
---|
197 | %| callback type separated by '_', e.g. 'slider2_Callback', |
---|
198 | %| 'figure1_CloseRequestFcn', 'axis1_ButtondownFcn'. |
---|
199 | %| |
---|
200 | %| H is the callback object's handle (obtained using GCBO). |
---|
201 | %| |
---|
202 | %| EVENTDATA is empty, but reserved for future use. |
---|
203 | %| |
---|
204 | %| HANDLES is a structure containing handles of components in GUI using |
---|
205 | %| tags as fieldnames, e.g. handles.figure1, handles.slider2. This |
---|
206 | %| structure is created at GUI startup using GUIHANDLES and stored in |
---|
207 | %| the figure's application data using GUIDATA. A copy of the structure |
---|
208 | %| is passed to each callback. You can store additional information in |
---|
209 | %| this structure at GUI startup, and you can change the structure |
---|
210 | %| during callbacks. Call guidata(h, handles) after changing your |
---|
211 | %| copy to replace the stored original so that subsequent callbacks see |
---|
212 | %| the updates. Type "help guihandles" and "help guidata" for more |
---|
213 | %| information. |
---|
214 | %| |
---|
215 | %| VARARGIN contains any extra arguments you have passed to the |
---|
216 | %| callback. Specify the extra arguments by editing the callback |
---|
217 | %| property in the inspector. By default, GUIDE sets the property to: |
---|
218 | %| <MFILENAME>('<SUBFUNCTION_NAME>', gcbo, [], guidata(gcbo)) |
---|
219 | %| Add any extra arguments after the last argument, before the final |
---|
220 | %| closing parenthesis. |
---|
221 | |
---|
222 | |
---|
223 | % -------------------------------------------------------------------- |
---|
224 | |
---|
225 | %%get rid f current stuff and do it again! |
---|
226 | function varargout = start_again_button_Callback(h, eventdata, handles, varargin) |
---|
227 | % Stub for Callback of the uicontrol handles.start_again_button. |
---|
228 | clear_button_Callback(h, eventdata, handles, varargin) |
---|
229 | initialize(handles) |
---|
230 | |
---|
231 | |
---|
232 | |
---|
233 | % -------------------------------------------------------------------- |
---|
234 | function varargout = frame1_Callback(h, eventdata, handles, varargin) |
---|
235 | % Stub for Callback of the uicontrol handles.frame1. |
---|
236 | disp('frame1 Callback not implemented yet. O great one') |
---|
237 | |
---|
238 | |
---|
239 | %---------------------------------------------------------------------\\\ |
---|
240 | |
---|
241 | function menu_OpenImage_Callback(h,eventdata,handles,varargin) |
---|
242 | disp('loading some images your highness') |
---|
243 | |
---|
244 | load_image_button_Callback(h, eventdata, handles, varargin) |
---|
245 | |
---|
246 | %---------------------------------------------------------------------\\\ |
---|
247 | |
---|
248 | function menu_SaveImages_Callback(h,eventdata,handles,varargin) |
---|
249 | |
---|
250 | save_image1_button_Callback(h, eventdata, handles, varargin) |
---|
251 | save_image_button2_Callback(h, eventdata, handles, varargin) |
---|
252 | |
---|
253 | %---------------------------------------------------------------------\\\ |
---|
254 | |
---|
255 | function menu_display_corners_Callback(h,eventdata,handles,varargin) |
---|
256 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
257 | display_corners_in_figure(handles); |
---|
258 | |
---|
259 | %---------------------------------------------------------------------\\\ |
---|
260 | |
---|
261 | function menu_display_c_matches_Callback(h,eventdata,handles,varargin) |
---|
262 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
263 | display_matches(h, eventdata, handles, varargin); |
---|
264 | |
---|
265 | %---------------------------------------------------------------------\\\ |
---|
266 | function menu_display_i_matches_Callback(h,eventdata,handles,varargin) |
---|
267 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
268 | display_inliers(h, eventdata, handles, varargin); |
---|
269 | |
---|
270 | %---------------------------------------------------------------------\\\ |
---|
271 | function menu_display_io_matches_Callback(h,eventdata,handles,varargin) |
---|
272 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
273 | display_matches(h, eventdata, handles, varargin); |
---|
274 | display_inliers(h, eventdata, handles, varargin); |
---|
275 | %---------------------------------------------------------------------\\\ |
---|
276 | |
---|
277 | % -------------------------------------------------------------------- |
---|
278 | function display_corners_in_figure(handles) |
---|
279 | |
---|
280 | % extracting the handle of the axes in which to display the image |
---|
281 | ax_handle2 = handles.axes2; |
---|
282 | ax_handle3 = handles.axes3; |
---|
283 | ccr1 = handles.ccr1; |
---|
284 | ccr2 = handles.ccr2; |
---|
285 | |
---|
286 | axes(ax_handle2); |
---|
287 | hold on |
---|
288 | axes(ax_handle3); |
---|
289 | hold on |
---|
290 | % plot(c_col, c_row, '+'); |
---|
291 | plot(ccr1(:,1), ccr1(:,2), 'g+','Parent', ax_handle2); |
---|
292 | plot(ccr2(:,1), ccr2(:,2), 'r+','Parent', ax_handle3); |
---|
293 | |
---|
294 | |
---|
295 | axes(ax_handle2); |
---|
296 | hold off |
---|
297 | axes(ax_handle3); |
---|
298 | hold off |
---|
299 | |
---|
300 | |
---|
301 | |
---|
302 | % -------------------------------------------------------------------- |
---|
303 | function varargout = detect_corner_button_Callback(h, eventdata, handles, varargin) |
---|
304 | % Stub for Callback of the uicontrol handles.pushbutton3. |
---|
305 | disp('Calculating corners.') |
---|
306 | |
---|
307 | [ccr1] = torr_charris(handles.d1,handles.n_corners,handles.corner_width,handles.corner_sigma); |
---|
308 | [ccr2] = torr_charris(handles.d2,handles.n_corners,handles.corner_width,handles.corner_sigma); |
---|
309 | |
---|
310 | |
---|
311 | %normalize so that the centre of the image is the origin... |
---|
312 | ccr1(:,1) = ccr1(:,1) - handles.image_centrex; |
---|
313 | ccr1(:,2) = ccr1(:,2) - handles.image_centrey; |
---|
314 | ccr2(:,1) = ccr2(:,1) - handles.image_centrex; |
---|
315 | ccr2(:,2) = ccr2(:,2) - handles.image_centrey; |
---|
316 | |
---|
317 | handles.ccr1 = ccr1; |
---|
318 | handles.ccr2 = ccr2; |
---|
319 | handles.n_corners1 = length(ccr1); |
---|
320 | handles.n_corners2 = length(ccr2); |
---|
321 | |
---|
322 | display_corners_in_figure(handles) |
---|
323 | |
---|
324 | set(handles.save_corner_button, 'Enable', 'on'); |
---|
325 | set(handles.match_button, 'Enable', 'on'); |
---|
326 | set(handles.match_param_button, 'Enable', 'on'); |
---|
327 | % set(handles.manual_match_button, 'Enable', 'on'); |
---|
328 | |
---|
329 | |
---|
330 | |
---|
331 | guidata(handles.figure1, handles); |
---|
332 | % -------------------------------------------------------------------- |
---|
333 | |
---|
334 | |
---|
335 | %here is phil's code to get a file, it uses the warning dialog |
---|
336 | %it has not been properly tested |
---|
337 | function [filename, pathname] = uigetfile_name(filer,message) |
---|
338 | |
---|
339 | [filename, pathname] = uigetfile(filer,message) |
---|
340 | if isequal(filename,0)|isequal(pathname,0) |
---|
341 | %recurse |
---|
342 | [filename, pathname] = uigetfile_name(filer,message); |
---|
343 | else |
---|
344 | disp(['File ', pathname, filename, ' found']) |
---|
345 | end |
---|
346 | |
---|
347 | |
---|
348 | |
---|
349 | % -------------------------------------------------------------------- |
---|
350 | function [filename, pathname] = uiputfile_name(filer,message) |
---|
351 | |
---|
352 | [filename, pathname] = uiputfile(filer,message) |
---|
353 | if isequal(filename,0)|isequal(pathname,0) |
---|
354 | [filename, pathname] = uiputfile_name(filer,message); |
---|
355 | else |
---|
356 | disp(['File ', pathname, filename, ' has been saved']) |
---|
357 | end |
---|
358 | |
---|
359 | |
---|
360 | |
---|
361 | |
---|
362 | % -------------------------------------------------------------------- |
---|
363 | function varargout = load_demo_image_button_Callback(h, eventdata, handles, varargin) |
---|
364 | % Stub for Callback of the uicontrol handles.pushbutton5. |
---|
365 | % [filename, pathname] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick an input image') |
---|
366 | % [i1,map1] = imread([pathname filename]); |
---|
367 | % |
---|
368 | % [filename, pathname] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick a second input image') |
---|
369 | % [i2,map2] = imread([pathname filename]); |
---|
370 | |
---|
371 | pathname1 = ['.\']; |
---|
372 | pathname2 = ['.\']; |
---|
373 | filename1=['j1.bmp']; |
---|
374 | filename2=['j2.bmp']; |
---|
375 | |
---|
376 | |
---|
377 | load_2images(h, eventdata, handles, varargin, filename1, pathname1,filename2, pathname2); |
---|
378 | |
---|
379 | %---------------------------------------------------------------------\\\ |
---|
380 | |
---|
381 | |
---|
382 | function varargout = load_2images(h, eventdata, handles, varargin, ... |
---|
383 | filename1, pathname1,filename2, pathname2) |
---|
384 | |
---|
385 | |
---|
386 | if pathname1 == pathname2 |
---|
387 | handles.pathname = pathname1; |
---|
388 | else |
---|
389 | errordlg(['The two images should be in the same directory:' pathname1 pathname2],'not fatal'); |
---|
390 | handles.pathname = pathname1; |
---|
391 | end |
---|
392 | |
---|
393 | |
---|
394 | |
---|
395 | |
---|
396 | [i1,map1] = imread([pathname1 filename1]); |
---|
397 | [i2,map2] = imread([pathname2 filename2]); |
---|
398 | |
---|
399 | |
---|
400 | iii = size(size(i1)); |
---|
401 | if iii(2) == 3 |
---|
402 | g1 = rgb2gray(i1); |
---|
403 | disp('converting to rgb'); |
---|
404 | else |
---|
405 | g1 = i1; |
---|
406 | end |
---|
407 | |
---|
408 | |
---|
409 | iii = size(size(i2)); |
---|
410 | if iii(2) == 3 |
---|
411 | g2 = rgb2gray(i2); |
---|
412 | else |
---|
413 | g2 = i2; |
---|
414 | end |
---|
415 | |
---|
416 | |
---|
417 | %if we successfully load: |
---|
418 | set(handles.detect_corner_button, 'Enable', 'on'); |
---|
419 | set(handles.load_corner_button, 'Enable', 'on'); |
---|
420 | set(handles.corn_param_button, 'Enable', 'on'); |
---|
421 | |
---|
422 | set(handles.save_image1_button, 'Enable', 'on'); |
---|
423 | set(handles.save_image2_button, 'Enable', 'on'); |
---|
424 | |
---|
425 | set(handles.Save_Images_menu, 'Enable', 'on'); |
---|
426 | |
---|
427 | set(handles.manual_match_button, 'Enable', 'on'); |
---|
428 | set(handles.load_match_button, 'Enable', 'on'); |
---|
429 | |
---|
430 | |
---|
431 | |
---|
432 | |
---|
433 | d1 = double(g1); |
---|
434 | d2 = double(g2); |
---|
435 | |
---|
436 | % extracting the handle of the axes in which to display the image |
---|
437 | ax_handle2 = handles.axes2; |
---|
438 | axes(ax_handle2); |
---|
439 | |
---|
440 | set(get(ax_handle2, 'Title'), 'Visible', 'off'); |
---|
441 | set(get(ax_handle2, 'Title'),'String', 'fff'); |
---|
442 | |
---|
443 | [m,n] = size(d1); |
---|
444 | [m1,n1] = size(d2); |
---|
445 | if (m ~= m1) | (n ~= n1) |
---|
446 | error('images must be the same size') |
---|
447 | end |
---|
448 | |
---|
449 | axis equal; |
---|
450 | colormap(map1); |
---|
451 | image(i1, 'Parent', ax_handle2,'XData',-n/2,'YData',-m/2); |
---|
452 | % imshow(i1, 'Parent', ax_handle2); |
---|
453 | |
---|
454 | ax_handle3 = handles.axes3; |
---|
455 | axes(ax_handle3); |
---|
456 | colormap(map1); |
---|
457 | image(i2, 'Parent', ax_handle3,'XData',-n/2,'YData',-m/2); |
---|
458 | |
---|
459 | handles.image_centrex = n/2; |
---|
460 | handles.image_centrey = m/2; |
---|
461 | |
---|
462 | |
---|
463 | handles.i1 = i1; |
---|
464 | handles.i2 = i2; |
---|
465 | handles.d1 = d1; |
---|
466 | handles.d2 = d2; |
---|
467 | handles.pathname = pathname1; |
---|
468 | |
---|
469 | % saving the GUI data |
---|
470 | guidata(handles.figure1, handles); |
---|
471 | %---------------------------------------------------------------------\\\ |
---|
472 | |
---|
473 | |
---|
474 | % -------------------------------------------------------------------- |
---|
475 | function varargout = load_image_button_Callback(h, eventdata, handles, varargin) |
---|
476 | % Stub for Callback of the uicontrol handles.pushbutton5. |
---|
477 | [filename1, pathname1] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick an input image') |
---|
478 | |
---|
479 | [filename2, pathname2] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick a second input image') |
---|
480 | |
---|
481 | load_2images(h, eventdata, handles, varargin, filename1, pathname1,filename2, pathname2); |
---|
482 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
483 | |
---|
484 | |
---|
485 | |
---|
486 | % -------------------------------------------------------------------- |
---|
487 | function varargout = clear_button_Callback(h, eventdata, handles, varargin) |
---|
488 | % Stub for Callback of the uicontrol handles.pushbutton6. |
---|
489 | |
---|
490 | |
---|
491 | % extracting the handle of the axes in which to display the image |
---|
492 | ax_handle2 = handles.axes2; |
---|
493 | axes(ax_handle2); |
---|
494 | |
---|
495 | set(get(ax_handle2, 'Title'), 'Visible', 'off'); |
---|
496 | set(get(ax_handle2, 'Title'),'String', 'fff'); |
---|
497 | |
---|
498 | hold off |
---|
499 | image(handles.i1, 'Parent', ax_handle2,'XData',-handles.image_centrex,'YData',-handles.image_centrey); |
---|
500 | % imshow(i1, 'Parent', ax_handle2); |
---|
501 | |
---|
502 | |
---|
503 | |
---|
504 | ax_handle3 = handles.axes3; |
---|
505 | axes(ax_handle3); |
---|
506 | hold off |
---|
507 | image(handles.i2, 'Parent', ax_handle3,'XData',-handles.image_centrex,'YData',-handles.image_centrey); |
---|
508 | |
---|
509 | |
---|
510 | |
---|
511 | |
---|
512 | % -------------------------------------------------------------------- |
---|
513 | function varargout = close_button_Callback(h, eventdata, handles, varargin) |
---|
514 | % Stub for Callback of the uicontrol handles.close_button. |
---|
515 | pos_size = get(handles.figure1,'Position'); |
---|
516 | user_response = modaldlg([pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5]); |
---|
517 | switch user_response |
---|
518 | case {'no','cancel'} |
---|
519 | % take no action |
---|
520 | case 'yes' |
---|
521 | % Prepare to close GUI application window |
---|
522 | % . |
---|
523 | % . |
---|
524 | % . |
---|
525 | delete(handles.figure1) |
---|
526 | end |
---|
527 | |
---|
528 | |
---|
529 | |
---|
530 | % -------------------------------------------------------------------- |
---|
531 | function varargout = help_button_Callback(h, eventdata, handles, varargin) |
---|
532 | % Stub for Callback of the uicontrol handles.help_button. |
---|
533 | HelpPath = which('stereo.htm'); |
---|
534 | web(HelpPath); |
---|
535 | |
---|
536 | |
---|
537 | % -------------------------------------------------------------------- |
---|
538 | function varargout = corn_param_button_Callback(h, eventdata, handles, varargin) |
---|
539 | % Stub for Callback of the uicontrol handles.corn_param_button. |
---|
540 | |
---|
541 | pos_size = get(handles.figure1,'Position'); |
---|
542 | dlg_pos = [pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5]; |
---|
543 | corn_param = torr_c_menu(handles, dlg_pos); |
---|
544 | |
---|
545 | handles.n_corners = corn_param(1); |
---|
546 | handles.corner_sigma = corn_param(2); |
---|
547 | handles.corner_width = corn_param(3); |
---|
548 | corn_param |
---|
549 | % saving the GUI data |
---|
550 | guidata(handles.figure1, handles); |
---|
551 | %---------------------------------------------------------------------\\\ |
---|
552 | |
---|
553 | function save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID) |
---|
554 | |
---|
555 | |
---|
556 | fprintf(FID,'%1.0f \n',n_corners1); |
---|
557 | fprintf(FID,'%1.0f \n',n_corners2); |
---|
558 | |
---|
559 | fprintf(FID,'%1.1f %1.1f \n',ccr1'); |
---|
560 | fprintf(FID,'%1.1f %1.1f \n',ccr2'); |
---|
561 | |
---|
562 | |
---|
563 | % -------------------------------------------------------------------- |
---|
564 | function varargout = save_corner_button_Callback(h, eventdata, handles, varargin) |
---|
565 | % Stub for Callback of the uicontrol handles.save_corner_button. |
---|
566 | [fname,pname] = uiputfile_name('*.cor','Put Corner File'); |
---|
567 | ccr1 = handles.ccr1; |
---|
568 | ccr2 = handles.ccr2; |
---|
569 | |
---|
570 | %save([pname fname], 'n_corners', 'ccr1', 'ccr2', '-ASCII') |
---|
571 | FID = fopen([pname fname],'w'); |
---|
572 | |
---|
573 | n_corners1 = handles.n_corners1; |
---|
574 | n_corners2 = handles.n_corners2; |
---|
575 | |
---|
576 | save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID) |
---|
577 | |
---|
578 | fclose(FID); |
---|
579 | |
---|
580 | % -------------------------------------------------------------------- |
---|
581 | |
---|
582 | function [n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID) |
---|
583 | |
---|
584 | n_corners1 = fscanf(FID,'%f',1); |
---|
585 | n_corners2 = fscanf(FID,'%f',1); |
---|
586 | ccr1 = fscanf(FID,'%f %f',[2 n_corners1]); |
---|
587 | ccr2 = fscanf(FID,'%f %f',[2 n_corners2]); |
---|
588 | |
---|
589 | % -------------------------------------------------------------------- |
---|
590 | |
---|
591 | |
---|
592 | function varargout = load_corner_button_Callback(h, eventdata, handles, varargin) |
---|
593 | % Stub for Callback of the uicontrol handles.load_corner_button. |
---|
594 | [fname,pname] = uigetfile_name('*.cor','Load Corner File'); |
---|
595 | |
---|
596 | if isempty(fname) |
---|
597 | return |
---|
598 | end |
---|
599 | |
---|
600 | FID = fopen([pname fname]); |
---|
601 | |
---|
602 | [n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID); |
---|
603 | handles.n_corners1 = n_corners1; |
---|
604 | handles.n_corners2 = n_corners2; |
---|
605 | handles.ccr1 = ccr1'; |
---|
606 | handles.ccr2 = ccr2'; |
---|
607 | |
---|
608 | |
---|
609 | |
---|
610 | fclose(FID); |
---|
611 | set(handles.save_corner_button, 'Enable', 'on'); |
---|
612 | set(handles.match_button, 'Enable', 'on'); |
---|
613 | set(handles.match_param_button, 'Enable', 'on'); |
---|
614 | |
---|
615 | %once we have done the matches we can no longer redo corners otherwise things might be inconsistent |
---|
616 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
617 | % saving the GUI data |
---|
618 | guidata(handles.figure1, handles); |
---|
619 | |
---|
620 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
621 | display_corners_in_figure(handles) |
---|
622 | %---------------------------------------------------------------------\\\ |
---|
623 | |
---|
624 | |
---|
625 | |
---|
626 | % -------------------------------------------------------------------- |
---|
627 | function varargout = match_button_Callback(h, eventdata, handles, varargin) |
---|
628 | % Stub for Callback of the uicontrol handles.match_button. |
---|
629 | |
---|
630 | |
---|
631 | %shift the x,y coordinates so we can access the image directly |
---|
632 | ccr1(:,1) = handles.ccr1(:,1) + handles.image_centrex; |
---|
633 | ccr1(:,2) = handles.ccr1(:,2) + handles.image_centrey; |
---|
634 | ccr2(:,1) = handles.ccr2(:,1) + handles.image_centrex; |
---|
635 | ccr2(:,2) = handles.ccr2(:,2) + handles.image_centrey; |
---|
636 | |
---|
637 | matches12 = torr_corn_matcher(handles.d1, handles.d2, ccr1, ccr2, handles.max_disparity,handles.match_half_size); |
---|
638 | |
---|
639 | disp('Number of matches:') |
---|
640 | length(matches12) |
---|
641 | |
---|
642 | matches12(:,1) = matches12(:,1) - handles.image_centrex; |
---|
643 | matches12(:,2) = matches12(:,2) - handles.image_centrey; |
---|
644 | matches12(:,3) = matches12(:,3) - handles.image_centrex; |
---|
645 | matches12(:,4) = matches12(:,4) - handles.image_centrey; |
---|
646 | |
---|
647 | |
---|
648 | handles.matches12 = matches12; |
---|
649 | handles.n_matches = length(matches12); |
---|
650 | |
---|
651 | |
---|
652 | set(handles.save_match_button, 'Enable', 'on'); |
---|
653 | |
---|
654 | set(handles.mapsac_button, 'Enable', 'on'); |
---|
655 | set(handles.mapsac_parameters_button, 'Enable', 'on'); |
---|
656 | |
---|
657 | %once we have done the matches we can no longer redo corners otherwise things might be inconsistent |
---|
658 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
659 | |
---|
660 | |
---|
661 | guidata(handles.figure1, handles); |
---|
662 | display_matches(h, eventdata, handles, varargin); |
---|
663 | % -------------------------------------------------------------------- |
---|
664 | function varargout = display_matches(h, eventdata, handles, varargin) |
---|
665 | % extracting the handle of the axes in which to display the image |
---|
666 | ax_handle2 = handles.axes2; |
---|
667 | ax_handle3 = handles.axes3; |
---|
668 | |
---|
669 | ccr1 = handles.ccr1; |
---|
670 | ccr2 = handles.ccr2; |
---|
671 | matches= handles.matches12; |
---|
672 | axes(ax_handle2); |
---|
673 | hold on |
---|
674 | axes(ax_handle3); |
---|
675 | hold on |
---|
676 | |
---|
677 | |
---|
678 | |
---|
679 | x1 = matches(:,1); |
---|
680 | y1 = matches(:,2); |
---|
681 | x2 = matches(:,3); |
---|
682 | y2 = matches(:,4); |
---|
683 | |
---|
684 | u1 = x2 - x1; |
---|
685 | v1 = y2 - y1; |
---|
686 | |
---|
687 | |
---|
688 | |
---|
689 | plot (matches(:,1), matches(:,2),'r+'); |
---|
690 | hold on |
---|
691 | plot (matches(:,3), matches(:,4),'r+'); |
---|
692 | |
---|
693 | display_numbers = 0; |
---|
694 | if display_numbers |
---|
695 | mat_index1 = 1:length(matches); |
---|
696 | mat_index1 = mat_index1'; |
---|
697 | mat_index = num2str(mat_index1); |
---|
698 | text(matches(:,1), matches(:,2),mat_index) |
---|
699 | end |
---|
700 | |
---|
701 | quiver(x1, y1, u1, v1, 0) |
---|
702 | hold off |
---|
703 | |
---|
704 | % |
---|
705 | % plot(ccr1(:,1), ccr1(:,2), 'r.') |
---|
706 | % plot(ccr2(:,1), ccr2(:,2), 'c.') |
---|
707 | % |
---|
708 | % for i = 1:length(mat12) |
---|
709 | % if mat12(i) ~= 0 |
---|
710 | % a = [ccr1(i,1),ccr2(mat12(i),1)]; %x1 x2 |
---|
711 | % b = [ccr1(i,2),ccr2(mat12(i),2)]; %y1 y2 |
---|
712 | % %x1 y1 |
---|
713 | % %x2 y2 |
---|
714 | % line(a,b); |
---|
715 | % end |
---|
716 | % end |
---|
717 | |
---|
718 | axes(ax_handle2); |
---|
719 | hold off |
---|
720 | axes(ax_handle3); |
---|
721 | hold off |
---|
722 | |
---|
723 | % -------------------------------------------------------------------- |
---|
724 | function varargout = match_param_button_Callback(h, eventdata, handles, varargin) |
---|
725 | |
---|
726 | |
---|
727 | pos_size = get(handles.figure1,'Position'); |
---|
728 | dlg_pos = [pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5]; |
---|
729 | match_param = torr_m_menu(handles, dlg_pos); |
---|
730 | |
---|
731 | handles.max_disparity = match_param(1); |
---|
732 | handles.match_half_size = match_param(2); |
---|
733 | % saving the GUI data |
---|
734 | guidata(handles.figure1, handles); |
---|
735 | %--------------------------------------------------------------------- |
---|
736 | % -------------------------------------------------------------------- |
---|
737 | function varargout = save_image1_button_Callback(h, eventdata, handles, varargin) |
---|
738 | % Stub for Callback of the uicontrol handles.save_image1_button. |
---|
739 | ax_handle2 = handles.axes2; |
---|
740 | %ax_handle3 = handles.axes3; |
---|
741 | % hf1 = figure; |
---|
742 | % %plot(sin(1:10)); |
---|
743 | %hf2 = figure; |
---|
744 | %ha = findobj('Parent',hf1); |
---|
745 | % ax_handle2 = handles.axes2; |
---|
746 | % new_axes = axes(ax_handle2); |
---|
747 | % set(new_axes, 'Parent', hf1); |
---|
748 | % |
---|
749 | % [fname,pname] = uiputfile('*.fig'); |
---|
750 | % saveas(ax_handle2,[pname fname ]); |
---|
751 | %hgsave(ax_handle2,[pname fname ]); |
---|
752 | |
---|
753 | new_fig = figure; |
---|
754 | new_axes = copyobj(ax_handle2,new_fig) |
---|
755 | %set(new_axes,'Position',[.5 .5 .8 .8],'DataAspectRatioMode','auto','PlotBoxAspectRatioMode','auto'); |
---|
756 | |
---|
757 | %get(new_axes) |
---|
758 | axis_position = get(new_axes,'Position'); |
---|
759 | set(new_axes,'Position',[10 7 axis_position(3) axis_position(4) ]); |
---|
760 | %keyboard |
---|
761 | |
---|
762 | % fff = handles.figure1; |
---|
763 | % saveas(fff,'bigfig.bmp'); |
---|
764 | |
---|
765 | % -------------------------------------------------------------------- |
---|
766 | function varargout = save_image2_button_Callback(h, eventdata, handles, varargin) |
---|
767 | % Stub for Callback of the uicontrol handles.save_image2_button. |
---|
768 | ax_handle3 = handles.axes3; |
---|
769 | |
---|
770 | % [fname,pname] = uiputfile('*.fig'); |
---|
771 | % saveas(ax_handle3,[pname fname ]); |
---|
772 | %hgsave(ax_handle3,[pname fname ]); |
---|
773 | |
---|
774 | new_fig = figure; |
---|
775 | new_axes = copyobj(ax_handle3,new_fig) |
---|
776 | %set(new_axes,'Position',[.5 .5 .8 .8],'DataAspectRatioMode','auto','PlotBoxAspectRatioMode','auto'); |
---|
777 | |
---|
778 | %get(new_axes) |
---|
779 | axis_position = get(new_axes,'Position'); |
---|
780 | set(new_axes,'Position',[10 7 axis_position(3) axis_position(4) ]); |
---|
781 | %keyboard |
---|
782 | |
---|
783 | |
---|
784 | % -------------------------------------------------------------------- |
---|
785 | function varargout = manual_match_button_Callback(h, eventdata, handles, varargin) |
---|
786 | % Stub for Callback of the uicontrol handles.manual_match_button. |
---|
787 | |
---|
788 | |
---|
789 | set(handles.save_match_button, 'Enable', 'on'); |
---|
790 | set(handles.load_match_button, 'Enable', 'on'); |
---|
791 | |
---|
792 | matches12 = torr_add_manual_matches(handles.axes2,handles.axes3); |
---|
793 | |
---|
794 | handles.matches12 = matches12; |
---|
795 | handles.n_matches = length(matches12); |
---|
796 | |
---|
797 | %also store corners |
---|
798 | ccr1(:,1) = matches12(:,1); |
---|
799 | ccr1(:,2) = matches12(:,2); |
---|
800 | ccr2(:,1) = matches12(:,3); |
---|
801 | ccr2(:,2) = matches12(:,4); |
---|
802 | handles.ccr1 = ccr1; |
---|
803 | handles.ccr2 = ccr2; |
---|
804 | |
---|
805 | %once we have done the matches we can no longer redo corners otherwise things might be inconsistent |
---|
806 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
807 | |
---|
808 | |
---|
809 | guidata(handles.figure1, handles); |
---|
810 | display_matches(h, eventdata, handles, varargin); |
---|
811 | |
---|
812 | if handles.n_matches > 7; |
---|
813 | set(handles.mapsac_button, 'Enable', 'on'); |
---|
814 | set(handles.mapsac_parameters_button, 'Enable', 'on'); |
---|
815 | set(handles.ImproveF_button, 'Enable', 'on'); |
---|
816 | end |
---|
817 | |
---|
818 | |
---|
819 | |
---|
820 | % -------------------------------------------------------------------- |
---|
821 | function varargout = save_match_button_Callback(h, eventdata, handles, varargin) |
---|
822 | % Stub for Callback of the uicontrol handles.save_corner_button. |
---|
823 | [fname,pname] = uiputfile_name('*.matches','Put Match File'); |
---|
824 | |
---|
825 | n_matches = handles.n_matches; |
---|
826 | matches12 = handles.matches12; |
---|
827 | |
---|
828 | %save([pname fname], 'n_corners', 'ccr1', 'ccr2', '-ASCII') |
---|
829 | FID = fopen([pname fname],'w'); |
---|
830 | fprintf(FID,'%1.0f \n',n_matches); |
---|
831 | fprintf(FID,'%1.1f %1.1f %1.1f %1.1f \n',matches12'); |
---|
832 | |
---|
833 | %now store original corners for good measure: |
---|
834 | n_corners = handles.n_corners; |
---|
835 | ccr1 = handles.ccr1; |
---|
836 | ccr2 = handles.ccr2; |
---|
837 | n_corners1 = handles.n_corners1; |
---|
838 | n_corners2 = handles.n_corners2; |
---|
839 | save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID); |
---|
840 | fclose(FID); |
---|
841 | |
---|
842 | |
---|
843 | % -------------------------------------------------------------------- |
---|
844 | function varargout = load_match_button_Callback(h, eventdata, handles, varargin) |
---|
845 | % Stub for Callback of the uicontrol handles.load_match_button. |
---|
846 | % Stub for Callback of the uicontrol handles.load_corner_button. |
---|
847 | [fname,pname] = uigetfile_name('*.matches','Load Match File'); |
---|
848 | |
---|
849 | if isempty(fname) |
---|
850 | return |
---|
851 | end |
---|
852 | |
---|
853 | FID = fopen([pname fname]); |
---|
854 | n_matches = fscanf(FID,'%f',1) |
---|
855 | handles.n_matches = n_matches; |
---|
856 | matches12 = fscanf(FID,'%f %f %f %f',[4 n_matches]); |
---|
857 | |
---|
858 | [n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID); |
---|
859 | handles.n_corners1 = n_corners1; |
---|
860 | handles.n_corners2 = n_corners2; |
---|
861 | handles.ccr1 = ccr1'; |
---|
862 | handles.ccr2 = ccr2'; |
---|
863 | |
---|
864 | fclose(FID); |
---|
865 | |
---|
866 | handles.matches12 = matches12'; |
---|
867 | |
---|
868 | set(handles.save_corner_button, 'Enable', 'on'); |
---|
869 | set(handles.save_match_button, 'Enable', 'on'); |
---|
870 | set(handles.match_button, 'Enable', 'on'); |
---|
871 | set(handles.match_param_button, 'Enable', 'on'); |
---|
872 | |
---|
873 | % Stub for Callback of the uicontrol handles.pushbutton28. |
---|
874 | set(handles.mapsac_button, 'Enable', 'on'); |
---|
875 | set(handles.mapsac_parameters_button, 'Enable', 'on'); |
---|
876 | |
---|
877 | |
---|
878 | |
---|
879 | % saving the GUI data |
---|
880 | guidata(handles.figure1, handles); |
---|
881 | clear_button_Callback(h, eventdata, handles, varargin) |
---|
882 | display_matches(h, eventdata, handles, varargin) |
---|
883 | |
---|
884 | |
---|
885 | |
---|
886 | % -------------------------------------------------------------------- |
---|
887 | function varargout = display_inliers(h, eventdata, handles, varargin) |
---|
888 | % extracting the handle of the axes in which to display the image |
---|
889 | ax_handle2 = handles.axes2; |
---|
890 | ax_handle3 = handles.axes3; |
---|
891 | |
---|
892 | ccr1 = handles.ccr1; |
---|
893 | ccr2 = handles.ccr2; |
---|
894 | axes(ax_handle2); |
---|
895 | hold on |
---|
896 | axes(ax_handle3); |
---|
897 | hold on |
---|
898 | |
---|
899 | |
---|
900 | matches12 = handles.inlier_matches; |
---|
901 | plot(matches12(:,3),matches12(:,4),'c.'); |
---|
902 | |
---|
903 | for i = 1:length(matches12) |
---|
904 | a = [matches12(i,1),matches12(i,3)]; %x1 x2 |
---|
905 | b = [matches12(i,2),matches12(i,4)]; %y1 y2 |
---|
906 | line(a,b,'Color','g'); |
---|
907 | end |
---|
908 | |
---|
909 | axes(ax_handle2); |
---|
910 | hold on |
---|
911 | |
---|
912 | plot(matches12(:,3),matches12(:,4),'c.'); |
---|
913 | |
---|
914 | %can i fix this to make this faster?? |
---|
915 | for i = 1:length(matches12) |
---|
916 | a = [matches12(i,1),matches12(i,3)]; %x1 x2 |
---|
917 | b = [matches12(i,2),matches12(i,4)]; %y1 y2 |
---|
918 | line(a,b,'Color','g'); |
---|
919 | end |
---|
920 | |
---|
921 | axes(ax_handle2); |
---|
922 | hold off |
---|
923 | axes(ax_handle3); |
---|
924 | hold off |
---|
925 | |
---|
926 | %MAPSAC is the Bayesian version of MLESAC, and it is easier to pronounce! |
---|
927 | % -------------------------------------------------------------------- |
---|
928 | function varargout = mapsac_button_Callback(h, eventdata, handles, varargin) |
---|
929 | % Stub for Callback of the uicontrol handles.mapsac_button. |
---|
930 | |
---|
931 | |
---|
932 | %run mapsac to get f |
---|
933 | f_optim_parameters = [handles.no_samp, handles.f_threshold]; |
---|
934 | [f,f_sq_errors, n_inliers,inlier_index] = torr_estimateF(handles.matches12, handles.m3, f_optim_parameters, 'mapsac'); |
---|
935 | disp('goodness of fit before non linear:') |
---|
936 | norm(f_sq_errors) |
---|
937 | |
---|
938 | |
---|
939 | handles.f = f; |
---|
940 | handles.inlier_matches = handles.matches12(inlier_index,:); |
---|
941 | handles.n_inliers = n_inliers; |
---|
942 | |
---|
943 | %first estimate F |
---|
944 | [f_nl,f_sq_errors] = torr_estimateF(handles.inlier_matches, handles.m3, [], 'non_linear',1,f); |
---|
945 | handles.f = f_nl; |
---|
946 | disp('goodness of fit after non linear:') |
---|
947 | norm(f_sq_errors) |
---|
948 | |
---|
949 | %finally display inliers |
---|
950 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
951 | display_inliers(h, eventdata, handles, varargin); |
---|
952 | |
---|
953 | %we can now save the result |
---|
954 | set(handles.save_F_button, 'Enable', 'on'); |
---|
955 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
956 | set(handles.match_button, 'Enable', 'off'); |
---|
957 | set(handles.display_epipolar_button, 'Enable', 'on'); |
---|
958 | set(handles.display_epipolar_button2, 'Enable', 'on'); |
---|
959 | %set(handles.mapsac_plane_button, 'Enable', 'on'); |
---|
960 | |
---|
961 | set(handles.ImproveF_button, 'Enable', 'on'); |
---|
962 | set(handles.sfm_button, 'Enable', 'on'); |
---|
963 | |
---|
964 | |
---|
965 | % saving the GUI data |
---|
966 | guidata(handles.figure1, handles); |
---|
967 | |
---|
968 | % -------------------------------------------------------------------- |
---|
969 | function varargout = mapsac_parameters_button_Callback(h, eventdata, handles, varargin) |
---|
970 | |
---|
971 | pos_size = get(handles.figure1,'Position'); |
---|
972 | dlg_pos = [pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5]; |
---|
973 | f_param = torr_f_menu(handles, dlg_pos); |
---|
974 | |
---|
975 | handles.no_samp = f_param(1); |
---|
976 | handles.f_threshold = f_param(2); |
---|
977 | % saving the GUI data |
---|
978 | guidata(handles.figure1, handles); |
---|
979 | %-------------------------------------------------------------- |
---|
980 | |
---|
981 | |
---|
982 | %here we save all the stuff in corner file, match file and add some extras.... |
---|
983 | % -------------------------------------------------------------------- |
---|
984 | function varargout = save_F_button_Callback(h, eventdata, handles, varargin) |
---|
985 | [fname,pname] = uiputfile_name('*.Fmatches','Put F & inlying matches'); |
---|
986 | |
---|
987 | |
---|
988 | f = handles.f; |
---|
989 | inlier_matches = handles.inlier_matches; |
---|
990 | n_inliers = handles.n_inliers; |
---|
991 | |
---|
992 | n_matches = handles.n_matches; |
---|
993 | matches12 = handles.matches12; |
---|
994 | f = handles.f; |
---|
995 | f |
---|
996 | |
---|
997 | FID = fopen([pname fname],'w'); |
---|
998 | |
---|
999 | %save F stuff |
---|
1000 | fprintf(FID,'%1.0f \n',n_inliers); |
---|
1001 | fprintf(FID,'%12.8f \n', f); |
---|
1002 | fprintf(FID,'%1.1f %1.1f %1.1f %1.1f \n',inlier_matches'); |
---|
1003 | |
---|
1004 | |
---|
1005 | %save correlation matches |
---|
1006 | fprintf(FID,'%1.0f \n',n_matches); |
---|
1007 | fprintf(FID,'%1.1f %1.1f %1.1f %1.1f \n',matches12'); |
---|
1008 | |
---|
1009 | %now store original corners for good measure: |
---|
1010 | n_corners = handles.n_corners; |
---|
1011 | ccr1 = handles.ccr1; |
---|
1012 | ccr2 = handles.ccr2; |
---|
1013 | n_corners1 = handles.n_corners1; |
---|
1014 | n_corners2 = handles.n_corners2; |
---|
1015 | save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID); |
---|
1016 | fclose(FID); |
---|
1017 | |
---|
1018 | |
---|
1019 | % -------------------------------------------------------------------- |
---|
1020 | function varargout = load_F_button_Callback(h, eventdata, handles, varargin) |
---|
1021 | % Stub for Callback of the uicontrol handles.pushbutton28. |
---|
1022 | |
---|
1023 | |
---|
1024 | [fname,pname] = uigetfile_name('*.fmatches','Load Match File'); |
---|
1025 | if isempty(fname) |
---|
1026 | return |
---|
1027 | end |
---|
1028 | |
---|
1029 | |
---|
1030 | %set(handles.mapsac_plane_button, 'Enable', 'on'); |
---|
1031 | set(handles.mapsac_button, 'Enable', 'on'); |
---|
1032 | set(handles.mapsac_parameters_button, 'Enable', 'on'); |
---|
1033 | set(handles.save_F_button, 'Enable', 'on'); |
---|
1034 | |
---|
1035 | set(handles.ImproveF_button, 'Enable', 'on'); |
---|
1036 | |
---|
1037 | set(handles.sfm_button, 'Enable', 'on'); |
---|
1038 | |
---|
1039 | |
---|
1040 | FID = fopen([pname fname]); |
---|
1041 | |
---|
1042 | |
---|
1043 | %save F stuff |
---|
1044 | n_inliers = fscanf(FID,'%f',1); |
---|
1045 | f = fscanf(FID,'%f',[1 9]); |
---|
1046 | inlier_matches = fscanf(FID,'%f %f %f %f',[4 n_inliers]); |
---|
1047 | |
---|
1048 | disp('fundamental matrix') |
---|
1049 | handles.f = f |
---|
1050 | handles.inlier_matches = inlier_matches'; |
---|
1051 | handles.n_inliers = n_inliers; |
---|
1052 | |
---|
1053 | |
---|
1054 | |
---|
1055 | n_matches = fscanf(FID,'%f',1); |
---|
1056 | handles.n_matches = n_matches; |
---|
1057 | matches12 = fscanf(FID,'%f %f %f %f',[4 n_matches]); |
---|
1058 | |
---|
1059 | [n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID); |
---|
1060 | handles.n_corners1 = n_corners1; |
---|
1061 | handles.n_corners2 = n_corners2; |
---|
1062 | handles.ccr1 = ccr1'; |
---|
1063 | handles.ccr2 = ccr2'; |
---|
1064 | |
---|
1065 | |
---|
1066 | |
---|
1067 | fclose(FID); |
---|
1068 | |
---|
1069 | |
---|
1070 | handles.matches12 = matches12'; |
---|
1071 | |
---|
1072 | set(handles.save_corner_button, 'Enable', 'on'); |
---|
1073 | set(handles.save_match_button, 'Enable', 'on'); |
---|
1074 | set(handles.match_button, 'Enable', 'on'); |
---|
1075 | set(handles.match_param_button, 'Enable', 'on'); |
---|
1076 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
1077 | set(handles.match_button, 'Enable', 'off'); |
---|
1078 | set(handles.display_epipolar_button, 'Enable', 'on'); |
---|
1079 | set(handles.display_epipolar_button2, 'Enable', 'on'); |
---|
1080 | |
---|
1081 | |
---|
1082 | % Stub for Callback of the uicontrol handles.pushbutton28. |
---|
1083 | set(handles.mapsac_button, 'Enable', 'on'); |
---|
1084 | set(handles.mapsac_parameters_button, 'Enable', 'on'); |
---|
1085 | %we can now save the result |
---|
1086 | set(handles.save_F_button, 'Enable', 'on'); |
---|
1087 | |
---|
1088 | |
---|
1089 | |
---|
1090 | % saving the GUI data |
---|
1091 | guidata(handles.figure1, handles); |
---|
1092 | clear_button_Callback(h, eventdata, handles, varargin) |
---|
1093 | %display_matches(h, eventdata, handles, varargin) |
---|
1094 | |
---|
1095 | %finally display inliers |
---|
1096 | display_inliers(h, eventdata, handles, varargin); |
---|
1097 | %%%---------------------------------------------------------------------------------- |
---|
1098 | %%%%this is not 100% checked.... |
---|
1099 | function varargout = display_epipolar_button_Callback(h, eventdata, handles, varargin) |
---|
1100 | |
---|
1101 | torr_display_epipolar(handles.f,handles.axes2,handles.axes3,handles.m3); |
---|
1102 | |
---|
1103 | |
---|
1104 | %%%---------------------------------------------------------------------------------- |
---|
1105 | |
---|
1106 | function varargout = display_epipolar_button2_Callback(h, eventdata, handles, varargin) |
---|
1107 | f = handles.f; |
---|
1108 | |
---|
1109 | %need to use the transpose of F for image 2--1 |
---|
1110 | f = [f(1) f(4) f(7) f(2) f(5) f(8) f(3) f(6) f(9)]; |
---|
1111 | torr_display_epipolar(f,handles.axes3,handles.axes2,handles.m3); |
---|
1112 | |
---|
1113 | |
---|
1114 | %%%---------------------------------------------------------------------------------- |
---|
1115 | |
---|
1116 | |
---|
1117 | |
---|
1118 | % -------------------------------------------------------------------- |
---|
1119 | function varargout = mapsac_plane_button_Callback(h, eventdata, handles, varargin) |
---|
1120 | % Stub for Callback of the uicontrol handles.mapsac_plane_button. |
---|
1121 | % Stub for Callback of the uicontrol handles.mapsac_button. |
---|
1122 | |
---|
1123 | |
---|
1124 | %run mapsac to get f |
---|
1125 | [f,f_sq_errors, n_inliers,inlier_index] = torr_mapsac_H(handles.matches12(:,1),handles.matches12(:,2),handles.matches12(:,3),handles.matches12(:,4), ... |
---|
1126 | handles.n_matches, handles.m3, handles.no_samp, handles.f_threshold) |
---|
1127 | |
---|
1128 | handles.f = f; |
---|
1129 | handles.inlier_matches = handles.matches12(inlier_index,:); |
---|
1130 | handles.n_inliers = n_inliers; |
---|
1131 | |
---|
1132 | %finally display inliers |
---|
1133 | clear_button_Callback(h, eventdata, handles, varargin); |
---|
1134 | display_inliers(h, eventdata, handles, varargin); |
---|
1135 | |
---|
1136 | %we can now save the result |
---|
1137 | set(handles.save_F_button, 'Enable', 'on'); |
---|
1138 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
1139 | set(handles.match_button, 'Enable', 'off'); |
---|
1140 | set(handles.display_epipolar_button, 'Enable', 'on'); |
---|
1141 | set(handles.display_epipolar_button2, 'Enable', 'on'); |
---|
1142 | |
---|
1143 | |
---|
1144 | % saving the GUI data |
---|
1145 | guidata(handles.figure1, handles); |
---|
1146 | |
---|
1147 | |
---|
1148 | |
---|
1149 | |
---|
1150 | % -------------------------------------------------------------------- |
---|
1151 | function varargout = ImproveF_button_Callback(h, eventdata, handles, varargin) |
---|
1152 | % Stub for Callback of the uicontrol handles.ImproveF_button. |
---|
1153 | |
---|
1154 | %this function simply operates on the set of matches with no robustness |
---|
1155 | %to be used with manual input etc... |
---|
1156 | handles.m3 = 256; |
---|
1157 | |
---|
1158 | %first estimate F |
---|
1159 | f = torr_estimateF(handles.matches12, handles.m3, [], 'lin+non_lin'); |
---|
1160 | handles.f = f; |
---|
1161 | |
---|
1162 | |
---|
1163 | %we can now save the result |
---|
1164 | set(handles.save_F_button, 'Enable', 'on'); |
---|
1165 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
1166 | set(handles.match_button, 'Enable', 'off'); |
---|
1167 | set(handles.display_epipolar_button, 'Enable', 'on'); |
---|
1168 | set(handles.display_epipolar_button2, 'Enable', 'on'); |
---|
1169 | %set(handles.mapsac_plane_button, 'Enable', 'on'); |
---|
1170 | |
---|
1171 | set(handles.ImproveF_button, 'Enable', 'on'); |
---|
1172 | set(handles.sfm_button, 'Enable', 'on'); |
---|
1173 | |
---|
1174 | % saving the GUI data |
---|
1175 | guidata(handles.figure1, handles); |
---|
1176 | |
---|
1177 | |
---|
1178 | % -------------------------------------------------------------------- |
---|
1179 | |
---|
1180 | |
---|
1181 | % -------------------------------------------------------------------- |
---|
1182 | function varargout = sfm_button_Callback(h, eventdata, handles, varargin) |
---|
1183 | %this function estalishes the frame, self calibrates and estimates X |
---|
1184 | |
---|
1185 | |
---|
1186 | f = handles.f; |
---|
1187 | nF = [[f(1) f(2) f(3)]; [f(4) f(5) f(6)];[f(7) f(8) f(9)]]; |
---|
1188 | |
---|
1189 | nx1 = handles.inlier_matches(:,1); |
---|
1190 | ny1 = handles.inlier_matches(:,2); |
---|
1191 | nx2 = handles.inlier_matches(:,3); |
---|
1192 | ny2 = handles.inlier_matches(:,4); |
---|
1193 | no_matches = length(nx1); |
---|
1194 | m3 = handles.m3; |
---|
1195 | |
---|
1196 | %next self calibrate for focal length |
---|
1197 | [focal_length, nE,C] = torr_self_calib_f(nF,handles.C); |
---|
1198 | |
---|
1199 | % |
---|
1200 | disp('initial estimate of focal length') |
---|
1201 | focal_length |
---|
1202 | |
---|
1203 | %now we have an Essential matrix we can establish the camera frame... |
---|
1204 | [P1,P2,R,t,srot_axis,rot_angle,g] = torr_linear_EtoPX(nE,handles.inlier_matches,C,handles.m3); |
---|
1205 | |
---|
1206 | % %next convert the 6 parameters of g to a fundamental matrix |
---|
1207 | % f2 = torr_g2F(g,C); |
---|
1208 | |
---|
1209 | [g,f] = torr_nonlinG(g ,nx1,ny1,nx2,ny2, length(nx1), handles.m3, C) |
---|
1210 | |
---|
1211 | rot_axis = torr_sphere2unit([g(2) g(3)]); |
---|
1212 | t = torr_sphere2unit([g(5) g(6)]); |
---|
1213 | rot_angle = g(4); |
---|
1214 | |
---|
1215 | disp('non_linear estimate of focal length') |
---|
1216 | focal_length |
---|
1217 | disp('rotation') |
---|
1218 | R |
---|
1219 | rot_axis |
---|
1220 | rot_angle |
---|
1221 | disp('translation') |
---|
1222 | t |
---|
1223 | |
---|
1224 | %next correct the points so that they lie on the fundamental matrix |
---|
1225 | [corrected_matches error2] = torr_correctx4F(f, nx1,ny1,nx2,ny2, no_matches, m3); |
---|
1226 | |
---|
1227 | %corrected matches should have zero error: |
---|
1228 | e2 = torr_errf2(f, corrected_matches(:,1), corrected_matches(:,2), corrected_matches(:,3),corrected_matches(:,4), length(nx1), m3); |
---|
1229 | disp('corrected match error is') |
---|
1230 | norm(e2) |
---|
1231 | |
---|
1232 | %next we need to obtain P1 & P2 |
---|
1233 | [P1, P2] = torr_g2FP(g,C); |
---|
1234 | |
---|
1235 | %now use P matrices and corrected matches to get structure: |
---|
1236 | X = torr_triangulate(corrected_matches, m3, P1, P2); |
---|
1237 | |
---|
1238 | %note structure is upside down! |
---|
1239 | |
---|
1240 | %test reprojection error |
---|
1241 | % rx1 = (P1 * X)'; |
---|
1242 | % |
---|
1243 | % rx1(:,1) = m3 * rx1(:,1) ./ rx1(:,3); |
---|
1244 | % rx1(:,2) = m3 * rx1(:,2) ./ rx1(:,3); |
---|
1245 | % |
---|
1246 | % rx2 = P2 * X; |
---|
1247 | |
---|
1248 | inlier_index = torr_robust_chieral(X,P1,P2); |
---|
1249 | |
---|
1250 | disp('number of outliers from chierality:') |
---|
1251 | no_matches - length(inlier_index) |
---|
1252 | |
---|
1253 | X = X(:,inlier_index); |
---|
1254 | %flash up a new window and display the structure plus cameras: |
---|
1255 | %invert = 1; |
---|
1256 | |
---|
1257 | % note becuase of row/column coordinate system of the image the X's are upside down so invert them prior |
---|
1258 | % to display. |
---|
1259 | X(2,:) = -X(2,:); |
---|
1260 | torr_display_structure(X, P1, P2); |
---|
1261 | X(2,:) = -X(2,:); |
---|
1262 | |
---|
1263 | |
---|
1264 | handles.P1 = P1; |
---|
1265 | handles.P2 = P2; |
---|
1266 | handles.X = X; |
---|
1267 | handles.inlier_matches = handles.inlier_matches(inlier_index,:); |
---|
1268 | handles.focal_length = focal_length; |
---|
1269 | handles.E = nE; |
---|
1270 | handles.C = C; |
---|
1271 | handles.f = f; |
---|
1272 | handles.n_matches = no_matches; |
---|
1273 | |
---|
1274 | % saving the GUI data |
---|
1275 | guidata(handles.figure1, handles); |
---|
1276 | |
---|
1277 | |
---|
1278 | |
---|
1279 | % -------------------------------------------------------------------- |
---|
1280 | function varargout = sfm_parambutton_Callback(h, eventdata, handles, varargin) |
---|
1281 | |
---|
1282 | pos_size = get(handles.figure1,'Position'); |
---|
1283 | dlg_pos = [pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5]; |
---|
1284 | |
---|
1285 | cal_param = torr_cal_menu(handles, dlg_pos); |
---|
1286 | |
---|
1287 | handles.focal_length = cal_param(1); |
---|
1288 | handles.aspect_ratio = cal_param(2); |
---|
1289 | handles.ppx = cal_param(3); |
---|
1290 | handles.ppy = cal_param(4); |
---|
1291 | |
---|
1292 | %work out calibration matrix |
---|
1293 | C = [ handles.aspect_ratio 0 handles.ppx; 0 1 handles.ppy; 0 0 1/handles.focal_length]; |
---|
1294 | C |
---|
1295 | handles.C = C; |
---|
1296 | % saving the GUI data |
---|
1297 | guidata(handles.figure1, handles); |
---|
1298 | |
---|
1299 | |
---|
1300 | |
---|
1301 | % -------------------------------------------------------------------- |
---|
1302 | function varargout = initialize(handles) |
---|
1303 | |
---|
1304 | disp('this function isnt ready yet'); |
---|
1305 | %phils atuff added, initialization |
---|
1306 | %corner parameters |
---|
1307 | handles.n_corners = 500; %max no of corners permitted/requested |
---|
1308 | |
---|
1309 | handles.n_corners1 = 0; %the actual number detected |
---|
1310 | handles.n_corners2 = 0; |
---|
1311 | |
---|
1312 | handles.corner_sigma = 1.0; |
---|
1313 | handles.corner_width = 3; |
---|
1314 | |
---|
1315 | |
---|
1316 | %matchin parameters |
---|
1317 | handles.max_disparity = 100; |
---|
1318 | handles.match_half_size = 3; |
---|
1319 | |
---|
1320 | |
---|
1321 | %F parameters: |
---|
1322 | handles.no_samp = 500; % no of samples in the mapsac algorithm |
---|
1323 | handles.f_threshold = 6.0; % f_threshold in the mapsac algorithm |
---|
1324 | |
---|
1325 | %informational variables |
---|
1326 | handles.n_matches = 0; %how many matches have we dectected. |
---|
1327 | |
---|
1328 | |
---|
1329 | %general parameters |
---|
1330 | %debugt mode |
---|
1331 | handles.debug = 1; |
---|
1332 | handles.m3 = 256; %third homogeous pixel coordinate, chosen as 256 to help conditioning, see my thesis |
---|
1333 | handles.pathname = ['C:\matlabR12\bin\']; |
---|
1334 | |
---|
1335 | |
---|
1336 | %calibration matrix |
---|
1337 | handles.focal_length = 3; %first guess, which is in units of m3 i.e |
---|
1338 | %focal length in pixels is 3 * m3 |
---|
1339 | handles.aspect_ratio = 1; |
---|
1340 | handles.ppx = 0; |
---|
1341 | handles.ppy = 0; |
---|
1342 | %work out calibration matrix |
---|
1343 | C = [a 0 handles.ppx; 0 1 handles.ppy; 0 0 1/handles.focal_length]; |
---|
1344 | handles.C = C; |
---|
1345 | |
---|
1346 | if ~handles.debug |
---|
1347 | helpdlg('Phil asks: "how ya diddling", first load some images') |
---|
1348 | end |
---|
1349 | |
---|
1350 | |
---|
1351 | set(handles.save_image1_button, 'Enable', 'off'); |
---|
1352 | set(handles.save_image2_button, 'Enable', 'off'); |
---|
1353 | set(handles.Save_Images_menu, 'Enable', 'off'); |
---|
1354 | |
---|
1355 | |
---|
1356 | %for corners |
---|
1357 | set(handles.detect_corner_button, 'Enable', 'off'); |
---|
1358 | set(handles.save_corner_button, 'Enable', 'off'); |
---|
1359 | set(handles.load_corner_button, 'Enable', 'off'); |
---|
1360 | set(handles.corn_param_button, 'Enable', 'off'); |
---|
1361 | |
---|
1362 | %for correlation matches |
---|
1363 | set(handles.match_button, 'Enable', 'off'); |
---|
1364 | set(handles.match_param_button, 'Enable', 'off'); |
---|
1365 | set(handles.manual_match_button, 'Enable', 'off'); |
---|
1366 | set(handles.save_match_button, 'Enable', 'off'); |
---|
1367 | set(handles.load_match_button, 'Enable', 'off'); |
---|
1368 | |
---|
1369 | %for F and correlation matches |
---|
1370 | set(handles.mapsac_button, 'Enable', 'off'); |
---|
1371 | set(handles.mapsac_parameters_button, 'Enable', 'off'); |
---|
1372 | set(handles.save_F_button, 'Enable', 'off'); |
---|
1373 | set(handles.display_epipolar_button, 'Enable', 'off'); |
---|
1374 | set(handles.display_epipolar_button2, 'Enable', 'off'); |
---|
1375 | |
---|
1376 | %self calibrate |
---|
1377 | set(handles.calibrate_button, 'Enable', 'on'); |
---|
1378 | |
---|
1379 | |
---|
1380 | |
---|
1381 | |
---|
1382 | guidata(handles.figure1, handles); |
---|
1383 | |
---|
1384 | |
---|
1385 | |
---|
1386 | |
---|
1387 | |
---|
1388 | % -------------------------------------------------------------------- |
---|
1389 | function varargout = epi_button_Callback(h, eventdata, handles, varargin) |
---|
1390 | |
---|
1391 | torr_disp_epip_geom(handles.f,handles.matches12,handles.axes2,handles.axes3,handles.m3); |
---|
1392 | |
---|
1393 | |
---|
1394 | f = handles.f; |
---|
1395 | f = [f(1) f(4) f(7) f(2) f(5) f(8) f(3) f(6) f(9)]; |
---|
1396 | |
---|
1397 | torr_disp_epip_geom(handles.f,handles.matches12,handles.axes3,handles.axes2,handles.m3); |
---|
1398 | |
---|
1399 | |
---|
1400 | |
---|
1401 | % -------------------------------------------------------------------- |
---|
1402 | |
---|
1403 | |
---|
1404 | |
---|
1405 | |
---|
1406 | |
---|
1407 | |
---|
1408 | |
---|