torr_tool.m

matlab三维重建程序

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


% --------------------------------------------------------------------
function varargout = load_image_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.pushbutton5.
[filename1, pathname1] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick an input image')

[filename2, pathname2] = uigetfile_name('*.bmp;*.jpg;*.gif','Pick a second input image')

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



% --------------------------------------------------------------------
function varargout = clear_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.pushbutton6.


% 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');

hold off
image(handles.i1, 'Parent', ax_handle2,'XData',-handles.image_centrex,'YData',-handles.image_centrey);
%  imshow(i1, 'Parent', ax_handle2);



ax_handle3 = handles.axes3; 
axes(ax_handle3);
hold off
image(handles.i2, 'Parent', ax_handle3,'XData',-handles.image_centrex,'YData',-handles.image_centrey);




% --------------------------------------------------------------------
function varargout = close_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.close_button.
pos_size = get(handles.figure1,'Position');
user_response = modaldlg([pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5]);
switch user_response
case {'no','cancel'}
    % take no action
case 'yes'
    % Prepare to close GUI application window
    %                  .
    %                  .
    %                  .
    delete(handles.figure1)
end



% --------------------------------------------------------------------
function varargout = help_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.help_button.
HelpPath = which('stereo.htm');
web(HelpPath); 


% --------------------------------------------------------------------
function varargout = corn_param_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.corn_param_button.

pos_size = get(handles.figure1,'Position');
dlg_pos = [pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5];
corn_param = torr_c_menu(handles, dlg_pos);

handles.n_corners = corn_param(1);
handles.corner_sigma = corn_param(2);
handles.corner_width = corn_param(3);
corn_param
% saving the GUI data
guidata(handles.figure1, handles);
%---------------------------------------------------------------------\\\

function save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID)


fprintf(FID,'%1.0f \n',n_corners1);
fprintf(FID,'%1.0f \n',n_corners2);

fprintf(FID,'%1.1f %1.1f \n',ccr1');
fprintf(FID,'%1.1f %1.1f \n',ccr2');


% --------------------------------------------------------------------
function varargout = save_corner_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.save_corner_button.
[fname,pname] = uiputfile_name('*.cor','Put Corner File');
ccr1 = handles.ccr1;
ccr2 = handles.ccr2;

%save([pname fname], 'n_corners', 'ccr1', 'ccr2', '-ASCII')
FID = fopen([pname fname],'w');

n_corners1 = handles.n_corners1;
n_corners2 = handles.n_corners2;

save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID)

fclose(FID);

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

function [n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID)

n_corners1 = fscanf(FID,'%f',1);
n_corners2 = fscanf(FID,'%f',1);
ccr1  = fscanf(FID,'%f %f',[2 n_corners1]);
ccr2  = fscanf(FID,'%f %f',[2 n_corners2]);

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


function varargout = load_corner_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.load_corner_button.
[fname,pname] = uigetfile_name('*.cor','Load Corner File');

if isempty(fname)
    return
end

FID = fopen([pname fname]);

[n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID);
handles.n_corners1 = n_corners1;
handles.n_corners2 = n_corners2;
handles.ccr1 = ccr1';
handles.ccr2 = ccr2';



fclose(FID);
set(handles.save_corner_button, 'Enable', 'on');
set(handles.match_button, 'Enable', 'on');
set(handles.match_param_button, 'Enable', 'on');

%once we have done the matches we can no longer redo corners otherwise things might be inconsistent
set(handles.detect_corner_button, 'Enable', 'off');
% saving the GUI data
guidata(handles.figure1, handles);

clear_button_Callback(h, eventdata, handles, varargin);
display_corners_in_figure(handles)
%---------------------------------------------------------------------\\\



% --------------------------------------------------------------------
function varargout = match_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.match_button.


%shift the x,y coordinates so we can access the image directly
ccr1(:,1) = handles.ccr1(:,1) + handles.image_centrex;
ccr1(:,2) = handles.ccr1(:,2) + handles.image_centrey;
ccr2(:,1) = handles.ccr2(:,1) + handles.image_centrex;
ccr2(:,2) = handles.ccr2(:,2) + handles.image_centrey;

matches12 = torr_corn_matcher(handles.d1, handles.d2, ccr1, ccr2, handles.max_disparity,handles.match_half_size);

disp('Number of matches:')
length(matches12)

matches12(:,1) = matches12(:,1) - handles.image_centrex;
matches12(:,2) = matches12(:,2) - handles.image_centrey;
matches12(:,3) = matches12(:,3) - handles.image_centrex;
matches12(:,4) = matches12(:,4) - handles.image_centrey;


handles.matches12 = matches12;
handles.n_matches = length(matches12);


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

set(handles.mapsac_button, 'Enable', 'on');
set(handles.mapsac_parameters_button, 'Enable', 'on');

%once we have done the matches we can no longer redo corners otherwise things might be inconsistent
set(handles.detect_corner_button, 'Enable', 'off');


guidata(handles.figure1, handles);
display_matches(h, eventdata, handles, varargin);
% --------------------------------------------------------------------
function varargout = display_matches(h, eventdata, handles, varargin)
% 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;
matches= handles.matches12;
axes(ax_handle2);
hold on
axes(ax_handle3);
hold on



x1 = matches(:,1);
y1 = matches(:,2);
x2 = matches(:,3);
y2 = matches(:,4);

u1 = x2 - x1;
v1 = y2 - y1;



plot (matches(:,1), matches(:,2),'r+');
hold on
plot (matches(:,3), matches(:,4),'r+');

display_numbers = 0;
if display_numbers
    mat_index1 = 1:length(matches);
    mat_index1 = mat_index1';
    mat_index = num2str(mat_index1);
    text(matches(:,1), matches(:,2),mat_index)
end

quiver(x1, y1, u1, v1, 0)
hold off

% 
% plot(ccr1(:,1), ccr1(:,2), 'r.')
% plot(ccr2(:,1), ccr2(:,2), 'c.')
% 
% for i = 1:length(mat12)
%     if mat12(i) ~= 0
%         a = [ccr1(i,1),ccr2(mat12(i),1)];  %x1 x2
%         b = [ccr1(i,2),ccr2(mat12(i),2)];	%y1 y2
%         %x1 y1
%         %x2 y2
%         line(a,b);
%     end
% end

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

% --------------------------------------------------------------------
function varargout = match_param_button_Callback(h, eventdata, handles, varargin)


pos_size = get(handles.figure1,'Position');
dlg_pos = [pos_size(1)+pos_size(3)/5 pos_size(2)+pos_size(4)/5];
match_param = torr_m_menu(handles, dlg_pos);

handles.max_disparity = match_param(1);
handles.match_half_size = match_param(2);
% saving the GUI data
guidata(handles.figure1, handles);
%---------------------------------------------------------------------
% --------------------------------------------------------------------
function varargout = save_image1_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.save_image1_button.
ax_handle2 = handles.axes2;
%ax_handle3 = handles.axes3; 
% hf1 = figure;
% %plot(sin(1:10));
%hf2 = figure;
%ha = findobj('Parent',hf1);
% ax_handle2 = handles.axes2;
% new_axes = axes(ax_handle2);
% set(new_axes, 'Parent', hf1);
% 
% [fname,pname] = uiputfile('*.fig');
% saveas(ax_handle2,[pname fname ]);
%hgsave(ax_handle2,[pname fname ]);

new_fig = figure;
new_axes = copyobj(ax_handle2,new_fig)
%set(new_axes,'Position',[.5 .5 .8 .8],'DataAspectRatioMode','auto','PlotBoxAspectRatioMode','auto');

%get(new_axes)
axis_position = get(new_axes,'Position');
set(new_axes,'Position',[10 7  axis_position(3) axis_position(4) ]);
%keyboard

% fff = handles.figure1;
% saveas(fff,'bigfig.bmp');

% --------------------------------------------------------------------
function varargout = save_image2_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.save_image2_button.
ax_handle3 = handles.axes3;

% [fname,pname] = uiputfile('*.fig');
% saveas(ax_handle3,[pname fname ]);
%hgsave(ax_handle3,[pname fname ]);

new_fig = figure;
new_axes = copyobj(ax_handle3,new_fig)
%set(new_axes,'Position',[.5 .5 .8 .8],'DataAspectRatioMode','auto','PlotBoxAspectRatioMode','auto');

%get(new_axes)
axis_position = get(new_axes,'Position');
set(new_axes,'Position',[10 7  axis_position(3) axis_position(4) ]);
%keyboard


% --------------------------------------------------------------------
function varargout = manual_match_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.manual_match_button.


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

matches12 = torr_add_manual_matches(handles.axes2,handles.axes3);

handles.matches12 = matches12;
handles.n_matches = length(matches12);

%also store corners
ccr1(:,1) = matches12(:,1);
ccr1(:,2) = matches12(:,2);
ccr2(:,1) = matches12(:,3);
ccr2(:,2) = matches12(:,4);
handles.ccr1 = ccr1;
handles.ccr2 = ccr2;

%once we have done the matches we can no longer redo corners otherwise things might be inconsistent
set(handles.detect_corner_button, 'Enable', 'off');


guidata(handles.figure1, handles);
display_matches(h, eventdata, handles, varargin);

if handles.n_matches > 7;
    set(handles.mapsac_button, 'Enable', 'on');
    set(handles.mapsac_parameters_button, 'Enable', 'on');
    set(handles.ImproveF_button, 'Enable', 'on');
end



% --------------------------------------------------------------------
function varargout = save_match_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.save_corner_button.
[fname,pname] = uiputfile_name('*.matches','Put Match File');

n_matches = handles.n_matches;
matches12 = handles.matches12;

%save([pname fname], 'n_corners', 'ccr1', 'ccr2', '-ASCII')
FID = fopen([pname fname],'w');
fprintf(FID,'%1.0f \n',n_matches);
fprintf(FID,'%1.1f %1.1f %1.1f %1.1f  \n',matches12');

%now store original corners for good measure:
n_corners = handles.n_corners;
ccr1 = handles.ccr1;
ccr2 = handles.ccr2;
n_corners1 = handles.n_corners1;
n_corners2 = handles.n_corners2;
save_corners_to_file(n_corners1, n_corners2, ccr1, ccr2, FID);
fclose(FID);


% --------------------------------------------------------------------
function varargout = load_match_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.load_match_button.
% Stub for Callback of the uicontrol handles.load_corner_button.
[fname,pname] = uigetfile_name('*.matches','Load Match File');

if isempty(fname)
    return
end

FID = fopen([pname fname]);
n_matches = fscanf(FID,'%f',1)
handles.n_matches = n_matches;
matches12  = fscanf(FID,'%f %f %f %f',[4 n_matches]);

[n_corners1, n_corners2, ccr1, ccr2] = load_corners_from_file(FID);
handles.n_corners1 = n_corners1;
handles.n_corners2 = n_corners2;
handles.ccr1 = ccr1';
handles.ccr2 = ccr2';

fclose(FID);

handles.matches12 = matches12';

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

% Stub for Callback of the uicontrol handles.pushbutton28.
set(handles.mapsac_button, 'Enable', 'on');
set(handles.mapsac_parameters_button, 'Enable', 'on');



% saving the GUI data
guidata(handles.figure1, handles);
clear_button_Callback(h, eventdata, handles, varargin)
display_matches(h, eventdata, handles, varargin)



% --------------------------------------------------------------------
function varargout = display_inliers(h, eventdata, handles, varargin)
% 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


matches12 = handles.inlier_matches;
plot(matches12(:,3),matches12(:,4),'c.');

for i = 1:length(matches12)
    a = [matches12(i,1),matches12(i,3)];  %x1 x2
    b = [matches12(i,2),matches12(i,4)];	%y1 y2
    line(a,b,'Color','g');
end

axes(ax_handle2);
hold on

plot(matches12(:,3),matches12(:,4),'c.');

%can i fix this to make this faster??
for i = 1:length(matches12)
    a = [matches12(i,1),matches12(i,3)];  %x1 x2
    b = [matches12(i,2),matches12(i,4)];	%y1 y2
    line(a,b,'Color','g');
end

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

%MAPSAC is the Bayesian version of MLESAC, and it is easier to pronounce!
% --------------------------------------------------------------------
function varargout = mapsac_button_Callback(h, eventdata, handles, varargin)
% Stub for Callback of the uicontrol handles.mapsac_button.


%run mapsac to get f
f_optim_parameters = [handles.no_samp, handles.f_threshold];
[f,f_sq_errors, n_inliers,inlier_index] = torr_estimateF(handles.matches12, handles.m3, f_optim_parameters, 'mapsac');
disp('goodness of fit before non linear:')
norm(f_sq_errors)


handles.f = f;
handles.inlier_matches = handles.matches12(inlier_index,:);