[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 [OccluList BoundaryLaserOccluHori BoundaryLaserOccluVert]=LaserOccluLabel(k,nList); |
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| 40 | |
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| 41 | |
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| 42 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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| 43 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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| 44 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName; |
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| 45 | |
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| 46 | BpWidthV = ceil(0.01*VertYNuDepth); |
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| 47 | BpWidthH = ceil(0.05*HoriXNuDepth); |
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| 48 | SE = strel('rectangle',[BpWidthV BpWidthH]); |
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| 49 | ThreVert = 0.5; |
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| 50 | ThreHori = 0.5; |
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| 51 | ThreFar = 15; |
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| 52 | % load data |
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| 53 | depthfile = strrep(filename{k},'img','depth_sph_corr'); % the depth filename |
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| 54 | load([ScratchDataFolder '/Gridlaserdata/' depthfile '.mat']); |
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| 55 | LaserDepth = Position3DGrid(:,:,4); |
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| 56 | |
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| 57 | load([ScratchDataFolder '/data/CleanSup/CleanSup' num2str(k) '.mat']); |
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| 58 | Sup = double(Sup); |
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| 59 | MaxSup = max( Sup(:)); |
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| 60 | MaskSky = Sup ==0; |
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| 61 | |
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| 62 | BoundaryPVert = conv2(Sup,[1 MaxSup],'valid').*( conv2(Sup,[1 -1],'valid') >0)... |
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| 63 | .* ~MaskSky(:,1:(end-1)) .* ~MaskSky(:,2:end); % two step build up hash index 1) Left > Righ index |
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| 64 | BoundaryPVert = BoundaryPVert + conv2(Sup,[MaxSup 1],'valid').* (conv2(Sup,[-1 1],'valid') >0)... |
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| 65 | .* ~MaskSky(:,1:(end-1)) .* ~MaskSky(:,2:end); % 2) Left < Righ index |
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| 66 | BoundaryPHori = conv2(Sup,[1; MaxSup],'valid').* (conv2(Sup,[1; -1],'valid') >0)... |
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| 67 | .* ~MaskSky(1:(end-1),:) .* ~MaskSky(2:end,:); % two step build up hash index 1) Top > bottom index |
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| 68 | BoundaryPHori = BoundaryPHori + conv2(Sup,[MaxSup; 1],'valid').*( conv2(Sup,[-1; 1],'valid') >0)... |
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| 69 | .* ~MaskSky(1:(end-1),:) .* ~MaskSky(2:end,:); % 2) Top < Bottom index |
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| 70 | |
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| 71 | % detect occlusion in both vertical and horizontal direction |
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| 72 | DiffDepthVert = abs(conv2(LaserDepth,[1; -1],'valid')); |
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| 73 | DiffDepthHori = abs(conv2(LaserDepth,[1 -1],'valid')); |
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| 74 | FraDiffDepthVert = DiffDepthVert./ sqrt(LaserDepth(1:(end-1),:) .* LaserDepth(2:end,:) ); |
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| 75 | %FraDiffDepthVert = DiffDepthVert./ min(LaserDepth(1:(end-1),:) , LaserDepth(2:end,:) ); |
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| 76 | OccFraDiffDepthVert = FraDiffDepthVert > ThreVert; |
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| 77 | OccFraDiffDepthVert(LaserDepth(1:(end-1),:) > ThreFar & LaserDepth(2:end,:) > ThreFar) = 0; |
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| 78 | FraDiffDepthHori = DiffDepthHori./ sqrt( LaserDepth(:,1:(end-1)) .* LaserDepth(:,2:end) ); |
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| 79 | %FraDiffDepthHori = DiffDepthHori./ min( LaserDepth(:,1:(end-1)) , LaserDepth(:,2:end) ); |
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| 80 | OccFraDiffDepthHori = FraDiffDepthHori > ThreHori; |
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| 81 | OccFraDiffDepthHori(LaserDepth(:,1:(end-1)) > ThreFar & LaserDepth(:,2:end) > ThreFar) = 0; |
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| 82 | |
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| 83 | BoundaryLaserOccluHori = (imdilate(OccFraDiffDepthVert, SE).*(BoundaryPHori ~= 0)); |
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| 84 | BoundaryLaserOccluVert = (imdilate(OccFraDiffDepthHori, SE).*(BoundaryPVert ~= 0)); |
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| 85 | OccluMap = zeros(size(LaserDepth)); |
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| 86 | OccluMap(:,1:(end-1)) = imdilate(OccFraDiffDepthHori, SE); |
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| 87 | OccluMap(1:(end-1),:) = imdilate(OccFraDiffDepthVert, SE); |
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| 88 | %figure(200);subplot(1,2,1); |
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| 89 | %figure; |
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| 90 | %disp('plot'); |
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| 91 | %Img = imresize(imread([GeneralDataFolder '/' ImgFolder '/' filename{k} ],'jpg'), [SegVertYSize SegHoriXSize]); |
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| 92 | %Img(:,:,1) = 255*imresize(OccluMap, [ SegVertYSize, SegHoriXSize]); |
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| 93 | %image(Img); |
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| 94 | |
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| 95 | OccluHash = setdiff(unique([BoundaryPHori(BoundaryLaserOccluHori ~= 0); BoundaryPVert(BoundaryLaserOccluVert ~= 0)]),0); |
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| 96 | List = nList(:,1)*MaxSup + nList(:,2); |
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| 97 | OccluList = false*ones(size(List)); |
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| 98 | if isempty(OccluHash) |
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| 99 | return; |
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| 100 | end |
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| 101 | mask = sum(repmat(List,[1 size(OccluHash,1)]) == repmat(OccluHash',[size(List,1) 1]),2) > 0; |
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| 102 | OccluList(mask) = true; |
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| 103 | return; |
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