torr_tool.m

matlab三维重建程序

%	By Philip Torr 2002
%	copyright Microsoft Corp.
% 
% %designed for the good of the world by Philip Torr based on ideas contained in 
% copyright Philip Torr and Microsoft Corp 2002
% 
% @inproceedings{Torr93b,
%         author = "Torr, P. H. S.  and Murray, D. W.",
%         title  = "Outlier Detection and Motion Segmentation",
%         booktitle = "Sensor Fusion VI",
%         editor = "Schenker, P. S.",
%         publisher = "SPIE volume 2059",
%         note = "Boston",
% 	pages = {432-443},
%         year = 1993 }
% 
%     
% @phdthesis{Torr:thesis,
%         author="Torr, P. H. S.",
%         title="Outlier Detection and Motion Segmentation",
%         school=" Dept. of  Engineering Science, University of Oxford",
%         year=1995}
% 
% @inproceedings{Beardsley96a,
%          author="Beardsley, P. and Torr, P. H. S. and Zisserman, A.",
%          title="{3D} Model Aquisition from Extended Image Sequences",
%          booktitle=eccv4.2,
%         editor = "Buxton, B. and Cipolla R.",
%        publisher = "Springer--Verlag",
%          pages={683--695},
%          year=1996}
% 
% 
% @article{Torr97c,
%         author="Torr, P. H. S.  and Murray, D. W. ",
%         title="The Development and Comparison of Robust Methods for Estimating the Fundamental Matrix",
%         journal="IJCV",
%         volume = 24,
%         number = 3,
%         pages = {271--300},
%         year=1997
% }
% 
% 
% 
% 
% @article{Torr99c,
%         author = "Torr, P. H. S.   and Zisserman, A",
%         title ="MLESAC: A New Robust Estimator with Application to Estimating Image Geometry ",
%         journal = "CVIU",
%         Volume = {78},
%         number = 1,
%         pages = {138-156},
%         year = 2000}
% 
% %MAPSAC is the Bayesian version of MLESAC, and it is easier to pronounce!
% it is described in:
% 
% @article{Torr02d,
%         author = "Torr, P. H. S.",
%         title ="Bayesian Model Estimation and  Selection for Epipolar Geometry and
% Generic Manifold Fitting",
%         journal = "IJCV",
%         Volume = {?},
%         number = ?,
%         pages = {?},
%         url = "http://research.microsoft.com/~philtorr/",
%         year = 2002}
% 



function varargout = torr_tool(varargin)
% TORR_TOOL Application M-file for torr_tool.fig
%    FIG = TORR_TOOL launch torr_tool GUI.
%    TORR_TOOL('callback_name', ...) invoke the named callback.

% Last Modified by GUIDE v2.0 21-May-2002 17:58:20




if nargin == 0  % LAUNCH GUI
    
    fig = openfig(mfilename,'reuse');
    
    % Use system color scheme for figure:
    set(fig,'Color',get(0,'defaultUicontrolBackgroundColor'));
    
    % Generate a structure of handles to pass to callbacks, and store it. 
    handles = guihandles(fig);
    
    
    %phils atuff added, initialization
    %corner parameters
    handles.n_corners = 2000; %max no of corners permitted/requested
    
    handles.n_corners1 = 0; %the actual number detected
    handles.n_corners2 = 0; 
    
    handles.corner_sigma = 1.0;
    handles.corner_width = 3;
    
    
    %matchin parameters
    handles.max_disparity = 50;
    handles.match_half_size = 3;
    
    
    %F parameters:
    handles.no_samp = 500; % no of samples in the mapsac algorithm
    handles.f_threshold = 6.0; % f_threshold in the mapsac algorithm
    
    %calibration matrix 
    handles.focal_length = 3; %first guess
    handles.aspect_ratio = 1;
    handles.ppx =  0;
    handles.ppy =  0;
    %work out calibration matrix
    C = [handles.aspect_ratio 0 handles.ppx; 0 1 handles.ppy; 0 0 1/handles.focal_length];
    handles.C = C;
  
    
    
    %informational variables
    handles.n_matches = 0; %how many matches have we detected.
    
    
    %general parameters
    %debugt mode
    handles.debug = 1;
    handles.m3 = 256; %third homogeous pixel coordinate, chosen as 256 to help conditioning, see my thesis
    handles.pathname = ['C:\matlabR12\bin\'];
    
    if ~handles.debug
        helpdlg('Phil asks: "how ya diddling", first load some images')
    end
    
    
    set(handles.save_image1_button, 'Enable', 'off');
    set(handles.save_image2_button, 'Enable', 'off');
    set(handles.Save_Images_menu, 'Enable', 'off');
    
    
    %for corners
    set(handles.detect_corner_button, 'Enable', 'off');
    set(handles.save_corner_button, 'Enable', 'off');
    set(handles.load_corner_button, 'Enable', 'on');
    set(handles.corn_param_button, 'Enable', 'off');
    
    %for correlation matches
    set(handles.match_button, 'Enable', 'off');
    set(handles.match_param_button, 'Enable', 'on');
    set(handles.manual_match_button, 'Enable', 'on');
    set(handles.save_match_button, 'Enable', 'off');    
    set(handles.load_match_button, 'Enable', 'off');
    
    %for F and correlation matches
    set(handles.mapsac_button, 'Enable', 'off');
    set(handles.mapsac_parameters_button, 'Enable', 'on');
    set(handles.save_F_button, 'Enable', 'off');
    set(handles.display_epipolar_button, 'Enable', 'off');
    set(handles.display_epipolar_button2, 'Enable', 'off');
    set(handles.ImproveF_button, 'Enable', 'off');
    
    %for SFM
    set(handles.sfm_button, 'Enable', 'off');
    
 
    
    guidata(fig, handles);
    
    if nargout > 0
        varargout{1} = fig;
    end
    
elseif ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK
    
    try
        [varargout{1:nargout}] = feval(varargin{:}); % FEVAL switchyard
    catch
        disp(lasterr);
    end
    
end


%| ABOUT CALLBACKS:
%| GUIDE automatically appends subfunction prototypes to this file, and 
%| sets objects' callback properties to call them through the FEVAL 
%| switchyard above. This comment describes that mechanism.
%|
%| Each callback subfunction declaration has the following form:
%| <SUBFUNCTION_NAME>(H, EVENTDATA, HANDLES, VARARGIN)
%|
%| The subfunction name is composed using the object's Tag and the 
%| callback type separated by '_', e.g. 'slider2_Callback',
%| 'figure1_CloseRequestFcn', 'axis1_ButtondownFcn'.
%|
%| H is the callback object's handle (obtained using GCBO).
%|
%| EVENTDATA is empty, but reserved for future use.
%|
%| HANDLES is a structure containing handles of components in GUI using
%| tags as fieldnames, e.g. handles.figure1, handles.slider2. This
%| structure is created at GUI startup using GUIHANDLES and stored in
%| the figure's application data using GUIDATA. A copy of the structure
%| is passed to each callback.  You can store additional information in
%| this structure at GUI startup, and you can change the structure
%| during callbacks.  Call guidata(h, handles) after changing your
%| copy to replace the stored original so that subsequent callbacks see
%| the updates. Type "help guihandles" and "help guidata" for more
%| information.
%|
%| VARARGIN contains any extra arguments you have passed to the
%| callback. Specify the extra arguments by editing the callback
%| property in the inspector. By default, GUIDE sets the property to:
%| <MFILENAME>('<SUBFUNCTION_NAME>', gcbo, [], guidata(gcbo))
%| Add any extra arguments after the last argument, before the final
%| closing parenthesis.


% --------------------------------------------------------------------

%%get rid f current stuff and do it again!
function varargout = start_again_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.start_again_button.
clear_button_Callback(h, eventdata, handles, varargin)
initialize(handles)



% --------------------------------------------------------------------
function varargout = frame1_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.frame1.
disp('frame1 Callback not implemented yet. O great one')


%---------------------------------------------------------------------\\\

function menu_OpenImage_Callback(h,eventdata,handles,varargin)
disp('loading some images your highness')

load_image_button_Callback(h, eventdata, handles, varargin)

%---------------------------------------------------------------------\\\

function menu_SaveImages_Callback(h,eventdata,handles,varargin)

save_image1_button_Callback(h, eventdata, handles, varargin)
save_image_button2_Callback(h, eventdata, handles, varargin)

%---------------------------------------------------------------------\\\

function menu_display_corners_Callback(h,eventdata,handles,varargin)
clear_button_Callback(h, eventdata, handles, varargin);
display_corners_in_figure(handles);

%---------------------------------------------------------------------\\\

function menu_display_c_matches_Callback(h,eventdata,handles,varargin)
clear_button_Callback(h, eventdata, handles, varargin);
display_matches(h, eventdata, handles, varargin);

%---------------------------------------------------------------------\\\
function menu_display_i_matches_Callback(h,eventdata,handles,varargin)
clear_button_Callback(h, eventdata, handles, varargin);
display_inliers(h, eventdata, handles, varargin);

%---------------------------------------------------------------------\\\
function menu_display_io_matches_Callback(h,eventdata,handles,varargin)
clear_button_Callback(h, eventdata, handles, varargin);
display_matches(h, eventdata, handles, varargin);
display_inliers(h, eventdata, handles, varargin);
%---------------------------------------------------------------------\\\

% --------------------------------------------------------------------
function display_corners_in_figure(handles)

% extracting the handle of the axes in which to display the image
ax_handle2 = handles.axes2;
ax_handle3 = handles.axes3; 
ccr1 = handles.ccr1;
ccr2 = handles.ccr2;

axes(ax_handle2);
hold on
axes(ax_handle3);
hold on
%		plot(c_col, c_row, '+');
plot(ccr1(:,1), ccr1(:,2), 'g+','Parent', ax_handle2);
plot(ccr2(:,1), ccr2(:,2), 'r+','Parent', ax_handle3);


axes(ax_handle2);        
hold off
axes(ax_handle3);        
hold off



% --------------------------------------------------------------------
function varargout = detect_corner_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.pushbutton3.
disp('Calculating corners.')

[ccr1] = torr_charris(handles.d1,handles.n_corners,handles.corner_width,handles.corner_sigma);
[ccr2] = torr_charris(handles.d2,handles.n_corners,handles.corner_width,handles.corner_sigma);


%normalize so that the centre of the image is the origin...
ccr1(:,1) = ccr1(:,1) - handles.image_centrex;
ccr1(:,2) = ccr1(:,2) - handles.image_centrey;
ccr2(:,1) = ccr2(:,1) - handles.image_centrex;
ccr2(:,2) = ccr2(:,2) - handles.image_centrey;

handles.ccr1 = ccr1;
handles.ccr2 = ccr2;
handles.n_corners1 = length(ccr1);
handles.n_corners2 = length(ccr2);

display_corners_in_figure(handles)

set(handles.save_corner_button, 'Enable', 'on');
set(handles.match_button, 'Enable', 'on');
set(handles.match_param_button, 'Enable', 'on');
% set(handles.manual_match_button, 'Enable', 'on');



guidata(handles.figure1, handles);
% --------------------------------------------------------------------


%here is phil's code to get a file, it uses the warning dialog
%it has not been properly tested
function [filename, pathname] = uigetfile_name(filer,message)

[filename, pathname] = uigetfile(filer,message)
if isequal(filename,0)|isequal(pathname,0)
    %recurse
    [filename, pathname] = uigetfile_name(filer,message);
else
    disp(['File ', pathname, filename, ' found'])
end



% --------------------------------------------------------------------
function [filename, pathname] = uiputfile_name(filer,message)

[filename, pathname] = uiputfile(filer,message)
if isequal(filename,0)|isequal(pathname,0)
    [filename, pathname] = uiputfile_name(filer,message);
else
    disp(['File ', pathname, filename, ' has been saved'])
end




% --------------------------------------------------------------------
function varargout = load_demo_image_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.pushbutton5.
% [filename, pathname] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick an input image')
%     [i1,map1] = imread([pathname filename]);
%     
%     [filename, pathname] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick a second input image')
%     [i2,map2] = imread([pathname filename]);

pathname1 = ['.\'];
pathname2 = ['.\'];
filename1=['j1.bmp'];
filename2=['j2.bmp'];


load_2images(h, eventdata, handles, varargin, filename1, pathname1,filename2, pathname2);

%---------------------------------------------------------------------\\\


function varargout = load_2images(h, eventdata, handles, varargin, ...
    filename1, pathname1,filename2, pathname2)


if pathname1 == pathname2
    handles.pathname = pathname1;
else
    errordlg(['The two images should be in the same directory:' pathname1 pathname2],'not fatal');
    handles.pathname = pathname1;
end




[i1,map1] = imread([pathname1 filename1]);
[i2,map2] = imread([pathname2 filename2]);


iii =  size(size(i1));
if iii(2) == 3
    g1 = rgb2gray(i1);
    disp('converting to rgb');
else
    g1 = i1;
end


iii =  size(size(i2));
if iii(2) == 3
    g2 = rgb2gray(i2);
else
    g2 = i2;
end


%if we successfully load:
set(handles.detect_corner_button, 'Enable', 'on');
set(handles.load_corner_button, 'Enable', 'on');
set(handles.corn_param_button, 'Enable', 'on');

set(handles.save_image1_button, 'Enable', 'on');        
set(handles.save_image2_button, 'Enable', 'on');

set(handles.Save_Images_menu, 'Enable', 'on');

set(handles.manual_match_button, 'Enable', 'on');
set(handles.load_match_button, 'Enable', 'on');




d1 = double(g1);
d2 = double(g2);

% extracting the handle of the axes in which to display the image
ax_handle2 = handles.axes2; 
axes(ax_handle2);

set(get(ax_handle2, 'Title'), 'Visible', 'off');
set(get(ax_handle2, 'Title'),'String', 'fff');

[m,n] = size(d1);
[m1,n1] = size(d2);
if (m ~= m1) | (n ~= n1)
    error('images must be the same size')
end

axis equal;
colormap(map1);
image(i1, 'Parent', ax_handle2,'XData',-n/2,'YData',-m/2);
%  imshow(i1, 'Parent', ax_handle2);

ax_handle3 = handles.axes3; 
axes(ax_handle3);
colormap(map1);
image(i2, 'Parent', ax_handle3,'XData',-n/2,'YData',-m/2);

handles.image_centrex = n/2;
handles.image_centrey = m/2;


handles.i1 = i1;
handles.i2 = i2;
handles.d1 = d1;
handles.d2 = d2;
handles.pathname = pathname1;

% saving the GUI data
guidata(handles.figure1, handles);