handles.n_inliers  = n_inliers;%first estimate F[f_nl,f_sq_errors] = torr_estimateF(handles.inlier_matches, handles.m3, [], 'non_linear',1,f);handles.f = f_nl;disp('goodness of fit after non linear:')norm(f_sq_errors)%finally display inliersclear_button_Callback(h, eventdata, handles, varargin);display_inliers(h, eventdata, handles, varargin);%we can now save the resultset(handles.save_F_button, 'Enable', 'on');set(handles.detect_corner_button, 'Enable', 'off');set(handles.match_button, 'Enable', 'off');set(handles.display_epipolar_button, 'Enable', 'on');set(handles.display_epipolar_button2, 'Enable', 'on');%set(handles.mapsac_plane_button, 'Enable', 'on');set(handles.ImproveF_button, 'Enable', 'on');set(handles.sfm_button, 'Enable', 'on');% saving the GUI dataguidata(handles.figure1, handles);% --------------------------------------------------------------------function varargout = mapsac_parameters_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];f_param = torr_f_menu(handles, dlg_pos);handles.no_samp = f_param(1);handles.f_threshold = f_param(2);% saving the GUI dataguidata(handles.figure1, handles);%--------------------------------------------------------------%here we save all the stuff in corner file, match file and add some extras....% --------------------------------------------------------------------function varargout = save_F_button_Callback(h, eventdata, handles, varargin)[fname,pname] = uiputfile_name('*.Fmatches','Put F & inlying matches');f = handles.f;inlier_matches = handles.inlier_matches;n_inliers = handles.n_inliers;n_matches = handles.n_matches;matches12 = handles.matches12;f = handles.f;fFID = fopen([pname fname],'w');%save F stufffprintf(FID,'%1.0f \n',n_inliers);fprintf(FID,'%12.8f \n', f);fprintf(FID,'%1.1f %1.1f %1.1f %1.1f  \n',inlier_matches');%save correlation matchesfprintf(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_F_button_Callback(h, eventdata, handles, varargin)% Stub for Callback of the uicontrol handles.pushbutton28.[fname,pname] = uigetfile_name('*.fmatches','Load Match File');if isempty(fname)    returnend%set(handles.mapsac_plane_button, 'Enable', 'on');set(handles.mapsac_button, 'Enable', 'on');set(handles.mapsac_parameters_button, 'Enable', 'on');set(handles.save_F_button, 'Enable', 'on');set(handles.ImproveF_button, 'Enable', 'on');set(handles.sfm_button, 'Enable', 'on');FID = fopen([pname fname]);%save F stuffn_inliers = fscanf(FID,'%f',1);f = fscanf(FID,'%f',[1 9]);inlier_matches = fscanf(FID,'%f %f %f %f',[4 n_inliers]);disp('fundamental matrix')handles.f = fhandles.inlier_matches = inlier_matches';handles.n_inliers  = n_inliers;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');set(handles.detect_corner_button, 'Enable', 'off');set(handles.match_button, 'Enable', 'off');set(handles.display_epipolar_button, 'Enable', 'on');set(handles.display_epipolar_button2, 'Enable', 'on');% Stub for Callback of the uicontrol handles.pushbutton28.set(handles.mapsac_button, 'Enable', 'on');set(handles.mapsac_parameters_button, 'Enable', 'on');%we can now save the resultset(handles.save_F_button, 'Enable', 'on');% saving the GUI dataguidata(handles.figure1, handles);clear_button_Callback(h, eventdata, handles, varargin)%display_matches(h, eventdata, handles, varargin)%finally display inliersdisplay_inliers(h, eventdata, handles, varargin);%%%----------------------------------------------------------------------------------%%%%this is not 100% checked....function varargout = display_epipolar_button_Callback(h, eventdata, handles, varargin)torr_display_epipolar(handles.f,handles.axes2,handles.axes3,handles.m3);%%%----------------------------------------------------------------------------------function varargout = display_epipolar_button2_Callback(h, eventdata, handles, varargin)f = handles.f;%need to use the transpose of F for image 2--1 f = [f(1) f(4) f(7) f(2) f(5) f(8) f(3) f(6) f(9)];torr_display_epipolar(f,handles.axes3,handles.axes2,handles.m3);%%%----------------------------------------------------------------------------------% --------------------------------------------------------------------function varargout = mapsac_plane_button_Callback(h, eventdata, handles, varargin)% Stub for Callback of the uicontrol handles.mapsac_plane_button.% Stub for Callback of the uicontrol handles.mapsac_button.%run mapsac to get f[f,f_sq_errors, n_inliers,inlier_index] = torr_mapsac_H(handles.matches12(:,1),handles.matches12(:,2),handles.matches12(:,3),handles.matches12(:,4), ...    handles.n_matches, handles.m3, handles.no_samp, handles.f_threshold)handles.f = f;handles.inlier_matches = handles.matches12(inlier_index,:);handles.n_inliers  = n_inliers;%finally display inliersclear_button_Callback(h, eventdata, handles, varargin);display_inliers(h, eventdata, handles, varargin);%we can now save the resultset(handles.save_F_button, 'Enable', 'on');set(handles.detect_corner_button, 'Enable', 'off');set(handles.match_button, 'Enable', 'off');set(handles.display_epipolar_button, 'Enable', 'on');set(handles.display_epipolar_button2, 'Enable', 'on');% saving the GUI dataguidata(handles.figure1, handles);% --------------------------------------------------------------------function varargout = ImproveF_button_Callback(h, eventdata, handles, varargin)% Stub for Callback of the uicontrol handles.ImproveF_button.%this function simply operates on the set of matches with no robustness%to be used with manual input etc...handles.m3 = 256;%first estimate Ff = torr_estimateF(handles.matches12, handles.m3, [], 'lin+non_lin');handles.f = f;%we can now save the resultset(handles.save_F_button, 'Enable', 'on');set(handles.detect_corner_button, 'Enable', 'off');set(handles.match_button, 'Enable', 'off');set(handles.display_epipolar_button, 'Enable', 'on');set(handles.display_epipolar_button2, 'Enable', 'on');%set(handles.mapsac_plane_button, 'Enable', 'on');set(handles.ImproveF_button, 'Enable', 'on');set(handles.sfm_button, 'Enable', 'on');% saving the GUI dataguidata(handles.figure1, handles);% --------------------------------------------------------------------% --------------------------------------------------------------------function varargout = sfm_button_Callback(h, eventdata, handles, varargin)%this function estalishes the frame, self calibrates and estimates Xf = handles.f;nF = [[f(1) f(2) f(3)]; [f(4) f(5) f(6)];[f(7) f(8) f(9)]];nx1 = handles.inlier_matches(:,1);ny1 = handles.inlier_matches(:,2);nx2 = handles.inlier_matches(:,3);ny2 = handles.inlier_matches(:,4);no_matches = length(nx1);m3 = handles.m3;%next self calibrate for focal length[focal_length, nE,C] = torr_self_calib_f(nF,handles.C);%disp('initial estimate of focal length')focal_length%now we have an Essential matrix we can establish the camera frame...[P1,P2,R,t,srot_axis,rot_angle,g]  = torr_linear_EtoPX(nE,handles.inlier_matches,C,handles.m3);% %next convert the 6 parameters of g to a fundamental matrix% f2 = torr_g2F(g,C);[g,f] = torr_nonlinG(g ,nx1,ny1,nx2,ny2, length(nx1), handles.m3, C)rot_axis = torr_sphere2unit([g(2) g(3)]);t = torr_sphere2unit([g(5) g(6)]);rot_angle = g(4);disp('non_linear estimate of focal length')focal_lengthdisp('rotation')Rrot_axisrot_angledisp('translation')t%next correct the points so that they lie on the fundamental matrix[corrected_matches error2] = torr_correctx4F(f, nx1,ny1,nx2,ny2, no_matches, m3);%corrected matches should have zero error:e2 = torr_errf2(f, corrected_matches(:,1), corrected_matches(:,2), corrected_matches(:,3),corrected_matches(:,4), length(nx1), m3);disp('corrected match error is')norm(e2)%next we need to obtain P1 & P2[P1, P2] = torr_g2FP(g,C);%now use P matrices and corrected matches to get structure:X = torr_triangulate(corrected_matches, m3, P1, P2);%note structure is upside down!%test reprojection error% rx1 = (P1 * X)';% % rx1(:,1) = m3 * rx1(:,1) ./ rx1(:,3);% rx1(:,2) = m3 * rx1(:,2) ./ rx1(:,3);% % rx2 = P2 * X;inlier_index = torr_robust_chieral(X,P1,P2);disp('number of outliers from chierality:')no_matches - length(inlier_index)X = X(:,inlier_index);%flash up a new window and display the structure plus cameras:%invert = 1;% note becuase of row/column coordinate system of the image the X's are upside down so invert them prior% to display.X(2,:) = -X(2,:);torr_display_structure(X, P1, P2);X(2,:) = -X(2,:);handles.P1 = P1;handles.P2 = P2;handles.X = X;handles.inlier_matches = handles.inlier_matches(inlier_index,:);handles.focal_length = focal_length;handles.E = nE;handles.C = C;handles.f = f;handles.n_matches = no_matches;% saving the GUI dataguidata(handles.figure1, handles);% --------------------------------------------------------------------function varargout = sfm_parambutton_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];cal_param = torr_cal_menu(handles, dlg_pos);handles.focal_length = cal_param(1);handles.aspect_ratio = cal_param(2);handles.ppx =  cal_param(3);handles.ppy =  cal_param(4);%work out calibration matrixC = [ handles.aspect_ratio 0 handles.ppx; 0 1 handles.ppy; 0 0 1/handles.focal_length];Chandles.C = C;% saving the GUI dataguidata(handles.figure1, handles);% --------------------------------------------------------------------function varargout = initialize(handles)disp('this function isnt ready yet');%phils atuff added, initialization%corner parametershandles.n_corners = 500; %max no of corners permitted/requestedhandles.n_corners1 = 0; %the actual number detectedhandles.n_corners2 = 0; handles.corner_sigma = 1.0;handles.corner_width = 3;%matchin parametershandles.max_disparity = 100;handles.match_half_size = 3;%F parameters:handles.no_samp = 500; % no of samples in the mapsac algorithmhandles.f_threshold = 6.0; % f_threshold in the mapsac algorithm%informational variableshandles.n_matches = 0; %how many matches have we dectected.%general parameters%debugt modehandles.debug = 1;handles.m3 = 256; %third homogeous pixel coordinate, chosen as 256 to help conditioning, see my thesishandles.pathname = ['C:\matlabR12\bin\'];%calibration matrix handles.focal_length = 3; %first guess, which is in units of m3 i.e                            %focal length in pixels is 3 * m3handles.aspect_ratio = 1;handles.ppx =  0;handles.ppy =  0;%work out calibration matrixC = [a 0 handles.ppx; 0 1 handles.ppy; 0 0 1/handles.focal_length];handles.C = C;if ~handles.debug    helpdlg('Phil asks: "how ya diddling", first load some images')endset(handles.save_image1_button, 'Enable', 'off');set(handles.save_image2_button, 'Enable', 'off');set(handles.Save_Images_menu, 'Enable', 'off');%for cornersset(handles.detect_corner_button, 'Enable', 'off');set(handles.save_corner_button, 'Enable', 'off');set(handles.load_corner_button, 'Enable', 'off');set(handles.corn_param_button, 'Enable', 'off');%for correlation matchesset(handles.match_button, 'Enable', 'off');set(handles.match_param_button, 'Enable', 'off');set(handles.manual_match_button, 'Enable', 'off');set(handles.save_match_button, 'Enable', 'off');    set(handles.load_match_button, 'Enable', 'off');%for F and correlation matchesset(handles.mapsac_button, 'Enable', 'off');set(handles.mapsac_parameters_button, 'Enable', 'off');set(handles.save_F_button, 'Enable', 'off');set(handles.display_epipolar_button, 'Enable', 'off');set(handles.display_epipolar_button2, 'Enable', 'off');%self calibrateset(handles.calibrate_button, 'Enable', 'on');guidata(handles.figure1, handles);% --------------------------------------------------------------------function varargout = epi_button_Callback(h, eventdata, handles, varargin) torr_disp_epip_geom(handles.f,handles.matches12,handles.axes2,handles.axes3,handles.m3); f = handles.f;f = [f(1) f(4) f(7) f(2) f(5) f(8) f(3) f(6) f(9)];torr_disp_epip_geom(handles.f,handles.matches12,handles.axes3,handles.axes2,handles.m3);% --------------------------------------------------------------------