[37] | 1 | % * This code was used in the following articles:
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| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
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| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
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| 5 | % * (best paper)
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| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
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| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 8 | % * In ICCV workshop on Virtual Representations and Modeling
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| 9 | % * of Large-scale environments (VRML), 2007.
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| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
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| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
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| 13 | % * [6] Learning Depth from Single Monocular Images,
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| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
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| 16 | % *
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| 17 | % * These articles are available at:
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| 18 | % * http://make3d.stanford.edu/publications
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| 19 | % *
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| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
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| 21 | % * your reports that uses this code.
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| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
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| 23 | % * then please cite [2].
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| 24 | % *
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| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
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| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
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| 27 | % *
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| 28 | % * Finally, this code is for non-commercial use only. For further
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| 29 | % * information and to obtain a copy of the license, see
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| 30 | % *
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| 31 | % * http://make3d.stanford.edu/publications/code
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| 32 | % *
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| 33 | % * Also, the software distributed under the License is distributed on an
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| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
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| 35 | % * express or implied. See the License for the specific language governing
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| 36 | % * permissions and limitations under the License.
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| 37 | % *
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| 38 | % */
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| 39 | function [] = generate_vrml_faceset_triangle(vrmlDirectory, vrmlFilename, imgDirectory, imageFilename, leftTriangle, rightTriangle) |
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| 40 | % this function play with the VRML |
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| 41 | % using only FaceSet |
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| 42 | |
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| 43 | % if nargin < 6 |
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| 44 | % a = 0.70783777 %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
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| 45 | % b = 0.946584169%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
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| 46 | % Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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| 47 | % Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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| 48 | % elseif nargin < 7 |
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| 49 | % b = a; |
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| 50 | % Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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| 51 | % Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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| 52 | % end |
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| 53 | % |
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| 54 | % % define global variable |
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| 55 | % global GeneralDataFolder ScratchDataFolder LocalFolder; |
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| 56 | % |
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| 57 | % vrml_filename = ['test_faceset_triangle' filename '_' DepthDirectory '.wrl']; |
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| 58 | % LowResImgIndexSuperpixelSepTemp = LowResImgIndexSuperpixelSep; |
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| 59 | imgDirectoryMod=strcat('.',imgDirectory); |
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| 60 | A = imread([imgDirectoryMod imageFilename]); |
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| 61 | |
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| 62 | % [VertYSize HoriXSize] = size(A); |
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| 63 | % nu_patch = VertYSize* HoriXSize; |
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| 64 | % PlaneParameterTureTemp = PlaneParameterTure; |
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| 65 | |
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| 66 | % calculate ray |
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| 67 | % ray = GenerateRay(HoriXSize,VertYSize,'center'); %[ horiXSizeLowREs VertYSizeLowREs 3] |
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| 68 | |
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| 69 | % calculate Position3D |
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| 70 | % DepthTureProj = 1./sum(permute(reshape(PlaneParameterTureTemp(1:3,LowResImgIndexSuperpixelSepTemp),3,VertYSize,[]),[2 3 1]).*ray,3); |
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| 71 | % Position3D = im_cr2w_cr(DepthTureProj,ray); |
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| 72 | |
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| 73 | % calculate Position3DCoord |
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| 74 | Position3DCoord = []; |
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| 75 | for i = 1:min(size(leftTriangle,1),size(rightTriangle,1)) |
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| 76 | Position3DCoord = [Position3DCoord assignTriangleValues(leftTriangle(i,3,3:5))' assignTriangleValues(leftTriangle(i,1,3:5))' assignTriangleValues(leftTriangle(i,2,3:5))' ... |
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| 77 | assignTriangleValues(rightTriangle(i,2,3:5))' assignTriangleValues(rightTriangle(i,1,3:5))' assignTriangleValues(rightTriangle(i,3,3:5))']; |
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| 78 | end |
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| 79 | |
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| 80 | % for j = 1:HoriXSize-1 |
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| 81 | % Position3DCoord = [Position3DCoord Position3D(:,i,j) Position3D(:,i+1,j) Position3D(:,i+1,j+1) Position3D(:,i,j) Position3D(:,i+1,j+1) Position3D(:,i,j+1)]; |
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| 82 | % end |
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| 83 | % end |
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| 84 | Position3DCoord(3,:) = -Position3DCoord(3,:); % important to make z direction negative |
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| 85 | |
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| 86 | % calculate PositionTexCoord |
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| 87 | % PositionTex = permute(ray(:,:,1:2)./repmat(cat(3,a,b),[VertYSize HoriXSize 1])+0.5,[3 1 2]); |
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| 88 | PositionTexCoord = []; |
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| 89 | for i = 1:min(size(leftTriangle,1),size(rightTriangle,1)) |
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| 90 | PositionTexCoord = [PositionTexCoord assignTriangleValues(leftTriangle(i,3,1:2))' assignTriangleValues(leftTriangle(i,1,1:2))' assignTriangleValues(leftTriangle(i,2,1:2))' ... |
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| 91 | assignTriangleValues(rightTriangle(i,2,1:2))' assignTriangleValues(rightTriangle(i,1,1:2))' assignTriangleValues(rightTriangle(i,3,1:2))']; |
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| 92 | end |
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| 93 | % PositionTexCoord = PositionTexCoord./([2272 1704]'); |
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| 94 | PositionTexCoord = PositionTexCoord./(repmat([2272 1704]',1,length(PositionTexCoord))); |
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| 95 | pathName = pwd; |
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| 96 | imageForVRMLfile=strcat(pathName,imgDirectory,imageFilename); |
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| 97 | |
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| 98 | % inital header |
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| 99 | disp('writing vrml..'); |
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| 100 | fp = fopen([vrmlDirectory vrmlFilename],'w'); |
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| 101 | |
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| 102 | fprintf(fp, '#VRML V2.0 utf8\n'); |
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| 103 | |
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| 104 | % add navigate_info |
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| 105 | fprintf(fp, 'NavigationInfo {\n'); |
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| 106 | fprintf(fp, ' headlight TRUE\n'); |
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| 107 | fprintf(fp, ' type ["FLY", "ANY"]}\n\n'); |
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| 108 | |
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| 109 | % add viewpoint |
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| 110 | fprintf(fp, 'Viewpoint {\n'); |
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| 111 | fprintf(fp, ' position 0 0.0 0.0\n'); |
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| 112 | fprintf(fp, ' orientation 0 0 0 0\n'); |
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| 113 | fprintf(fp, ' fieldOfView 0.1\n'); |
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| 114 | fprintf(fp, ' description "Original"}\n'); |
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| 115 | |
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| 116 | % add Shape for texture faceset |
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| 117 | fprintf(fp, 'Shape{\n'); |
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| 118 | fprintf(fp, ' appearance Appearance {\n'); |
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| 119 | fprintf(fp, [' texture ImageTexture { url "' imageForVRMLfile '" }\n']); |
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| 120 | fprintf(fp, ' }\n'); |
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| 121 | fprintf(fp, ' geometry IndexedFaceSet {\n'); |
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| 122 | fprintf(fp, ' coord Coordinate {\n'); |
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| 123 | |
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| 124 | % insert coordinate in 3d |
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| 125 | % ======================= |
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| 126 | fprintf(fp, ' point [ \n'); |
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| 127 | fprintf(fp, ' %f %f %f,\n',Position3DCoord); |
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| 128 | fprintf(fp, ' ]\n'); |
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| 129 | fprintf(fp, ' }\n'); |
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| 130 | |
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| 131 | % insert coordinate index in 3d |
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| 132 | fprintf(fp, ' coordIndex [\n'); |
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| 133 | Position3DCoordOrdeerIndex = 0:(size(Position3DCoord,2)-1); |
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| 134 | fprintf(fp, ' %g %g %g -1,\n',Position3DCoordOrdeerIndex); |
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| 135 | fprintf(fp, ' ]\n'); |
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| 136 | |
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| 137 | % insert texture coordinate |
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| 138 | fprintf(fp, ' texCoord TextureCoordinate {\n'); |
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| 139 | fprintf(fp, ' point [\n'); |
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| 140 | fprintf(fp, ' %g %g,\n',PositionTexCoord); |
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| 141 | fprintf(fp, ' ]\n'); |
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| 142 | fprintf(fp, ' }\n'); |
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| 143 | % ================================== |
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| 144 | fprintf(fp, ' }\n'); |
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| 145 | fprintf(fp, '}\n'); |
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| 146 | |
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| 147 | % close the file |
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| 148 | fclose(fp); |
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| 149 | disp('done :)'); |
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