sustaining_gazes/matlab_version/pdm_generation/nrsfm-em/shark_demo.m

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2016-04-28 21:40:36 +02:00
% Shark Demo
%
% Copyright (c) by Lorenzo Torresani, Stanford University
%
% A demo of Non-Rigid Structure From Motion on artificial shark sequence
%
%
% The 3D reconstruction technique is based on the following paper:
%
% Lorenzo Torresani, Aaron Hertzmann and Christoph Bregler,
% Learning Non-Rigid 3D Shape from 2D Motion, NIPS 16, 2003
% http://cs.stanford.edu/~ltorresa/projects/learning-nr-shape/
%
%
% Function em_sfm implements the algorithms "EM-Gaussian" and "EM-LDS" described
% in the paper
%
% I recommend that you try to compile the CMEX code for the function computeH:
% type 'mex computeH.c' in the Matlab Command Window ('mex computeH.c -l matlb' under Unix)
%
% loads the matrix P3_gt containing the ground thruth data: P3_gt([t t+T t+2*T],:) contains the 3D coordinates of the J points at time t
% (T is the number of frames, J is the number of points)
load('jaws.mat');
[T, J] = size(P3_gt); T = T/3;
% 2D motion resulting from orthographic projection (Eq (1))
p2_obs = P3_gt(1:2*T, :);
% runs the non-rigid structure from motion algorithm
use_lds = 1;
max_em_iter = 60;
tol = 0.0001;
K = 2; % number of deformation shapes
Zcoords_gt = P3_gt(2*T+1:3*T,:) - mean(P3_gt(2*T+1:3*T,:),2)*ones(1,J);
Zdist = max(Zcoords_gt,[],2) - min(Zcoords_gt,[],2); % size of the 3D shape along the Z axis for each time frame
MD = zeros(T,J);
[P3, S_hat, V, RO, Tr, Z] = em_sfm(p2_obs, MD, K, use_lds, tol, max_em_iter);
%% Compares it with ground truth.
% Note that there are still 2 unresolvable ambiguities:
% 1. depth direction (i.e. the shape could be "flipped" along the Z axis) -> we test both possibilities
% 2. Z translation -> we subtract the mean of the Z coords to evaluate reconstruction results
Zcoords_em = P3(2*T+1:3*T,:) - mean(P3(2*T+1:3*T,:),2)*ones(1,J);
Zerror1 = mean( mean(abs(Zcoords_em - Zcoords_gt), 2)./Zdist );
Zerror2 = mean( mean(abs(-Zcoords_em - Zcoords_gt), 2)./Zdist );
if Zerror2 < Zerror1,
avg_zerror = 100*Zerror2;
P3(2*T+1:3*T,:) = -(P3(2*T+1:3*T,:) - mean(P3(2*T+1:3*T,:),2)*ones(1,J));
else
avg_zerror = 100*Zerror1;
P3(2*T+1:3*T,:) = P3(2*T+1:3*T,:) - mean(P3(2*T+1:3*T,:),2)*ones(1,J);
end
fprintf('Average reconstruction error in Z: %f%%\n', avg_zerror);
vis_reconstruction(P3_gt, P3);