matlab 图像三维重建

% 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) %----------------------------------------