Scribd
Upload
7 views9 pages

Lec 13

The document outlines a MATLAB code for processing a sequence of images to perform 3D reconstruction using computer vision techniques. It includes steps for loading images, undistorting them, detecting and matching features, estimating camera poses, and refining 3D points through bundle adjustment. The final output visualizes the refined camera poses and the dense 3D reconstruction of the scene.

Uploaded by

22151017
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
7 views9 pages

Lec 13

The document outlines a MATLAB code for processing a sequence of images to perform 3D reconstruction using computer vision techniques. It includes steps for loading images, undistorting them, detecting and matching features, estimating camera poses, and refining 3D points through bundle adjustment. The final output visualizes the refined camera poses and the dense 3D reconstruction of the scene.

Uploaded by

22151017
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 9

HW1

CODE:

% Use |imageDatastore| to get a list of all image file names


in a
% directory.
imageDir = fullfile(toolboxdir('vision'), 'visiondata', ...
'structureFromMotion');
imds = imageDatastore(imageDir);

% Display the images.


figure
montage(imds.Files, 'Size', [3, 2]);

% Convert the images to grayscale.


images = cell(1, numel(imds.Files));
for i = 1:numel(imds.Files)
I = readimage(imds, i);
images{i} = im2gray(I);
end

title('Input Image Sequence');

data = load(fullfile(imageDir, 'cameraParams.mat'));


cameraParams = data.cameraParams;
% Get intrinsic parameters of the camera
intrinsics = cameraParams.Intrinsics;

% Undistort the first image.


I = undistortImage(images{1}, intrinsics);

% Detect features. Increasing 'NumOctaves' helps detect


large-scale
% features in high-resolution images. Use an ROI to
eliminate spurious
% features around the edges of the image.
border = 50;
roi = [border, border, size(I, 2)- 2*border, size(I, 1)-
2*border];
prevPoints = detectSURFFeatures(I, 'NumOctaves', 8, 'ROI',
roi);
% Extract features. Using 'Upright' features improves
matching, as long as
% the camera motion involves little or no in-plane rotation.
prevFeatures = extractFeatures(I, prevPoints, 'Upright',
true);

% Create an empty imageviewset object to manage the data


associated with each
% view.
vSet = imageviewset;

% Add the first view. Place the camera associated with the
first view
% and the origin, oriented along the Z-axis.
viewId = 1;
vSet = addView(vSet, viewId, rigid3d, 'Points', prevPoints);

for i = 2:numel(images)
% Undistort the current image.
I = undistortImage(images{i}, intrinsics);

% Detect, extract and match features.


currPoints = detectSURFFeatures(I, 'NumOctaves', 8,
'ROI', roi);
currFeatures = extractFeatures(I, currPoints, 'Upright',
true);
indexPairs = matchFeatures(prevFeatures, currFeatures,
...
'MaxRatio', .7, 'Unique', true);

% Select matched points.


matchedPoints1 = prevPoints(indexPairs(:, 1));
matchedPoints2 = currPoints(indexPairs(:, 2));

% Estimate the camera pose of current view relative to


the previous view.
% The pose is computed up to scale, meaning that the
distance between
% the cameras in the previous view and the current view
is set to 1.
% This will be corrected by the bundle adjustment.
[relativeOrient, relativeLoc, inlierIdx] =
helperEstimateRelativePose(...
matchedPoints1, matchedPoints2, intrinsics);

% Get the table containing the previous camera pose.


prevPose = poses(vSet, i-1).AbsolutePose;
relPose = rigid3d(relativeOrient, relativeLoc);

% Compute the current camera pose in the global


coordinate system
% relative to the first view.
currPose = rigid3d(relPose.T * prevPose.T);

% Add the current view to the view set.


vSet = addView(vSet, i, currPose, 'Points', currPoints);

% Store the point matches between the previous and the


current views.
vSet = addConnection(vSet, i-1, i, relPose, 'Matches',
indexPairs(inlierIdx,:));

% Find point tracks across all views.


tracks = findTracks(vSet);

% Get the table containing camera poses for all views.


camPoses = poses(vSet);

% Triangulate initial locations for the 3-D world


points.
xyzPoints = triangulateMultiview(tracks, camPoses,
intrinsics);

% Refine the 3-D world points and camera poses.


[xyzPoints, camPoses, reprojectionErrors] =
bundleAdjustment(xyzPoints, ...
tracks, camPoses, intrinsics, 'FixedViewId', 1, ...
'PointsUndistorted', true);

% Store the refined camera poses.


vSet = updateView(vSet, camPoses);

prevFeatures = currFeatures;
prevPoints = currPoints;
end
% Display camera poses.
camPoses = poses(vSet);
figure;
plotCamera(camPoses, 'Size', 0.2);
hold on

% Exclude noisy 3-D points.


goodIdx = (reprojectionErrors < 5);
xyzPoints = xyzPoints(goodIdx, :);

% Display the 3-D points.


pcshow(xyzPoints, 'VerticalAxis', 'y', 'VerticalAxisDir',
'down', ...
'MarkerSize', 45);
grid on
hold off

% Specify the viewing volume.


loc1 = camPoses.AbsolutePose(1).Translation;
xlim([loc1(1)-5, loc1(1)+4]);
ylim([loc1(2)-5, loc1(2)+4]);
zlim([loc1(3)-1, loc1(3)+20]);
camorbit(0, -30);

title('Refined Camera Poses');

%Compute Dense Reconstruction


%Go through the images again. This time detect a dense set
of corners, and track them across all views using
vision.PointTracker.
% Read and undistort the first image
I = undistortImage(images{1}, intrinsics);

% Detect corners in the first image.


prevPoints = detectMinEigenFeatures(I, 'MinQuality', 0.001);

% Create the point tracker object to track the points across


views.
tracker = vision.PointTracker('MaxBidirectionalError', 1,
'NumPyramidLevels', 6);

% Initialize the point tracker.


prevPoints = prevPoints.Location;
initialize(tracker, prevPoints, I);

% Store the dense points in the view set.

vSet = updateConnection(vSet, 1, 2, 'Matches', zeros(0, 2));


vSet = updateView(vSet, 1, 'Points', prevPoints);

% Track the points across all views.


for i = 2:numel(images)
% Read and undistort the current image.
I = undistortImage(images{i}, intrinsics);

% Track the points.


[currPoints, validIdx] = step(tracker, I);

% Clear the old matches between the points.


if i < numel(images)
vSet = updateConnection(vSet, i, i+1, 'Matches',
zeros(0, 2));
end
vSet = updateView(vSet, i, 'Points', currPoints);

% Store the point matches in the view set.


matches = repmat((1:size(prevPoints, 1))', [1, 2]);
matches = matches(validIdx, :);
vSet = updateConnection(vSet, i-1, i, 'Matches',
matches);
end

% Find point tracks across all views.


tracks = findTracks(vSet);

% Find point tracks across all views.


camPoses = poses(vSet);

% Triangulate initial locations for the 3-D world points.


xyzPoints = triangulateMultiview(tracks, camPoses,...
intrinsics);

% Refine the 3-D world points and camera poses.


[xyzPoints, camPoses, reprojectionErrors] =
bundleAdjustment(...
xyzPoints, tracks, camPoses, intrinsics, 'FixedViewId',
1, ...
'PointsUndistorted', true);

% Display the refined camera poses.


figure;
plotCamera(camPoses, 'Size', 0.2);
hold on

% Exclude noisy 3-D world points.


goodIdx = (reprojectionErrors < 5);

% Display the dense 3-D world points.


pcshow(xyzPoints(goodIdx, :), 'VerticalAxis', 'y',
'VerticalAxisDir', 'down', ...
'MarkerSize', 45);
grid on
hold off

% Specify the viewing volume.


loc1 = camPoses.AbsolutePose(1).Translation;
xlim([loc1(1)-5, loc1(1)+4]);
ylim([loc1(2)-5, loc1(2)+4]);
zlim([loc1(3)-1, loc1(3)+20]);
camorbit(0, -30);

title('Dense Reconstruction');
Input Image Sequence

You might also like