USAC 1.0 code (no data)

Source code from http://www.cs.unc.edu/~rraguram/usac/.

license.txt

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+////////////////////////////////////////////////////////////////////////////
+//
+//	Copyright (c) 2012 University of North Carolina at Chapel Hill
+//	All Rights Reserved
+//
+//	Permission to use, copy, modify and distribute this software and its
+//	documentation for educational, research and non-profit purposes, without
+//	fee, and without a written agreement is hereby granted, provided that the
+//	above copyright notice and the following paragraph appear in all copies.
+//	
+//	The University of North Carolina at Chapel Hill make no representations
+//	about the suitability of this software for any purpose. It is provided
+//	'as is' without express or implied warranty. 
+//
+//	Please send BUG REPORTS to rraguram@cs.unc.edu
+//
+////////////////////////////////////////////////////////////////////////////

matlab/show_epipolar_lines.m

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+%% reads in inliers and f matrix, shows epipolar lines 
+%function show_epipolar_lines
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% paths and constants
+    clear;
+    clc;
+    close all;
+    working_dir = 'E:\rraguram\projects\USAC\data\fundmatrix\test1';
+    im1_fname = 'im1.jpg';
+    im2_fname = 'im2.jpg';
+    orig_pts_file = 'orig_pts.txt';
+    inliers_file = 'inliers.txt';
+    fund_file = 'F.txt';
+
+    skip = 5;   % show subset of epipolar lines based on skip size
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in images 
+    im1 = imread(fullfile(working_dir, im1_fname));
+    im2 = imread(fullfile(working_dir, im2_fname));
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in original data points
+    fid_o = fopen(fullfile(working_dir, orig_pts_file), 'r');
+    num_pts = str2num(fgetl(fid_o));
+    m1 = zeros(2, num_pts);
+    m2 = zeros(2, num_pts);    
+    for i = 1:num_pts
+        temp = textscan(fgetl(fid_o), '%s');
+        m1(1, i) = str2num(temp{1,1}{1});
+        m1(2, i) = str2num(temp{1,1}{2});
+        m2(1, i) = str2num(temp{1,1}{3});
+        m2(2, i) = str2num(temp{1,1}{4});        
+    end
+    fclose(fid_o);
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in inlier data
+    inliers = textread(fullfile(working_dir, inliers_file));
+    inliers_ind = find(inliers > 0);
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in fundamental matrix
+    F = textread(fullfile(working_dir, fund_file));
+    F = reshape(F(1:9), 3, 3)';
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% show inlier matches and epipolar lines for all images
+
+    % form vectors of inlying data points
+    x1 = m1(:,inliers_ind); x1 = [x1; ones(1, length(x1))];
+    x2 = m2(:,inliers_ind); x2 = [x2; ones(1, length(x2))];
+
+    % display images side by side
+    I = [];
+    [M1,N1,K1]=size(im1);
+    [M2,N2,K2]=size(im2);
+    N3=N1+N2;
+    M3=max(M1,M2);
+    oj=N1;
+    oi=0;
+    I(1:M1,1:N1,:) = im1;
+    I(oi+(1:M2),oj+(1:N2),:) = im2;
+
+    % step through each matched pair of points and display the
+    % corresponding epipolar lines on the two images
+    l2 = F*x1;    % epipolar lines in image2
+    l1 = F'*x2;   % epipolar lines in image1
+
+   % solve for epipoles
+    [U,D,V] = svd(F);
+    e1 = hnormalise(V(:,3));
+    e2 = hnormalise(U(:,3));
+
+    figure(1); imshow(uint8(im1)); hold on; axis image; axis off;
+    for n = 1:skip+1:length(inliers_ind)
+         hline(l1(:,n), 'g'); plot(e1(1), e1(2), 'g*');
+    end
+    figure(2); imshow(uint8(im2)); hold on; axis image; axis off;    
+    for n = 1:skip+1:length(inliers_ind)
+         hline(l2(:,n), 'g'); plot(e2(1), e2(2), 'g*');
+    end   

matlab/show_h_transformed.m

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+%% warp and display images using the estimated homography
+%function show_h_transformed
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% paths and constants
+    working_dir = 'E:\rraguram\projects\USAC\data\homog\test1';
+    im1_fname = 'im1.jpg';
+    im2_fname = 'im2.jpg';
+    h_file = 'H.txt'; 
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in images 
+    im1 = imread(fullfile(working_dir, im1_fname));
+    im2 = imread(fullfile(working_dir, im2_fname));
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in homography
+    H = textread(fullfile(working_dir, h_file));
+    H = reshape(H(1:9), 3, 3)';
+    H = inv(H);
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% transform image and display
+
+    mytform = maketform('projective', H');
+    [im2t xd yd] = imtransform(im2, mytform, 'FillValues', 255);
+    figure; imshow(im2t, 'XData', xd, 'YData', yd); hold on;
+    h = imshow(im1, gray(256));
+    set(h, 'AlphaData', 0.6)
+
+    mytform = maketform('projective', inv(H)');
+    [im1t xd yd] = imtransform(im1, mytform, 'FillValues', 255);
+    figure; imshow(im1t, 'XData', xd, 'YData', yd); hold on;
+    h = imshow(im2, gray(256));
+    set(h, 'AlphaData', 0.6)    

matlab/show_inliers.m

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+%% display inliers for an image pair
+%function show_inliers
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% paths and constants
+%     clear; 
+    clc;
+    working_dir = 'E:\rraguram\projects\USAC\data\homog\test2';
+    im1_fname = 'im1.jpg';
+    im2_fname = 'im2.jpg';
+    orig_pts_file = 'orig_pts.txt';
+    inliers_file = 'inliers.txt';
+
+    skip = 5;   % show subset of inliers based on skip size
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in images 
+    im1 = imread(fullfile(working_dir, im1_fname));
+    im2 = imread(fullfile(working_dir, im2_fname));
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in original data points
+    fid_o = fopen(fullfile(working_dir, orig_pts_file), 'r');
+    num_pts = str2num(fgetl(fid_o));
+    m1 = zeros(2, num_pts);
+    m2 = zeros(2, num_pts);    
+    for i = 1:num_pts
+        temp = textscan(fgetl(fid_o), '%s');
+        m1(1, i) = str2num(temp{1,1}{1});
+        m1(2, i) = str2num(temp{1,1}{2});
+        m2(1, i) = str2num(temp{1,1}{3});
+        m2(2, i) = str2num(temp{1,1}{4});        
+    end
+    fclose(fid_o);
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% read in inlier data
+    inliers = textread(fullfile(working_dir, inliers_file));
+    inliers_ind = find(inliers > 0);
+    n = randperm(length(inliers_ind));
+    inliers_ind = inliers_ind(n);    
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%    
+%% display images side by side and plot inliers
+    I = [];
+    padding = 15;
+    [M1,N1,K1]=size(im1);
+    [M2,N2,K2]=size(im2);
+    N3=N1+N2+padding;
+    M3=max(M1,M2);
+    oj=N1+padding;
+    oi=0;
+    I(1:M3, 1:N3, 1) = 255; I(1:M3, 1:N3, 2) = 255; I(1:M3, 1:N3, 3) = 255;
+    I(1:M1,1:N1,:) = im1;
+    I(oi+(1:M2),oj+(1:N2),:) = im2;
+
+    figure(1);
+    title_str = sprintf('%s and %s: %d inliers',im1_fname, im2_fname, length(inliers_ind));
+    imshow(uint8(I)); set(1,'name', title_str); hold on; axis image; axis off;
+    for m = 1:skip+1:length(inliers_ind)
+        plot([m1(1,inliers_ind(m)) m2(1,inliers_ind(m))+oj], [m1(2,inliers_ind(m)) m2(2,inliers_ind(m))+oi],'go-','LineWidth',2,'MarkerSize',2,'MarkerFaceColor','g');
+    end
+