[37] | 1 | /* |
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| 2 | % * This code was used in the following articles: |
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| 3 | % * [1] Learning 3-D Scene Structure from a Single Still Image, |
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| 4 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, |
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| 5 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007. |
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| 6 | % * (best paper) |
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| 7 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision, |
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| 8 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, |
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| 9 | % * In ICCV workshop on Virtual Representations and Modeling |
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| 10 | % * of Large-scale environments (VRML), 2007. |
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| 11 | % * [3] 3-D Depth Reconstruction from a Single Still Image, |
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| 12 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. |
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| 13 | % * International Journal of Computer Vision (IJCV), Aug 2007. |
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| 14 | % * [6] Learning Depth from Single Monocular Images, |
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| 15 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. |
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| 16 | % * In Neural Information Processing Systems (NIPS) 18, 2005. |
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| 17 | % * |
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| 18 | % * These articles are available at: |
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| 19 | % * http://make3d.stanford.edu/publications |
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| 20 | % * |
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| 21 | % * We request that you cite the papers [1], [3] and [6] in any of |
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| 22 | % * your reports that uses this code. |
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| 23 | % * Further, if you use the code in image3dstiching/ (multiple image version), |
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| 24 | % * then please cite [2]. |
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| 25 | % * |
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| 26 | % * If you use the code in third_party/, then PLEASE CITE and follow the |
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| 27 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE. |
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| 28 | % * |
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| 29 | % * Finally, this code is for non-commercial use only. For further |
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| 30 | % * information and to obtain a copy of the license, see |
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| 31 | % * |
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| 32 | % * http://make3d.stanford.edu/publications/code |
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| 33 | % * |
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| 34 | % * Also, the software distributed under the License is distributed on an |
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| 35 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either |
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| 36 | % * express or implied. See the License for the specific language governing |
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| 37 | % * permissions and limitations under the License. |
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| 38 | % * |
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| 39 | % */ |
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| 40 | |
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| 41 | //#include <stdio.h> |
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| 42 | #include <cstdlib> |
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| 43 | #include <math.h> |
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| 44 | #include "mex.h" |
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| 45 | |
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| 46 | /* Input Arguments Total 4 input argument*/ |
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| 47 | #define SUP_IN prhs[0] |
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| 48 | #define BOUNDARY_IN prhs[1] |
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| 49 | #define STRAIGHLINE_IN prhs[2] |
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| 50 | #define TEXCOORX_IN prhs[3] |
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| 51 | #define TEXCOORY_IN prhs[4] |
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| 52 | |
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| 53 | /* OutPUT Arguments */ |
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| 54 | #define TEXCOOR_OUT plhs[0] |
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| 55 | |
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| 56 | /* Definition */ |
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| 57 | #if !defined(MAX) |
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| 58 | #define MAX(A, B) ((A) > (B) ? (A) : (B)) |
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| 59 | #endif |
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| 60 | #if !defined(MIN) |
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| 61 | #define MIN(A, B) ((A) > (B) ? (B) : (A)) |
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| 62 | #endif |
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| 63 | |
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| 64 | |
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| 65 | static void SupRayAlign( double Sup[], |
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| 66 | double Boundary[], |
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| 67 | double StraightLine[], |
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| 68 | double TexCoorXOri[], |
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| 69 | double TexCoorYOri[], |
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| 70 | double TexCoorOut[], |
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| 71 | unsigned int VSup, |
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| 72 | unsigned int HSup, |
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| 73 | unsigned int VB, |
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| 74 | unsigned int HB, |
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| 75 | unsigned int NuStr) |
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| 76 | { |
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| 77 | |
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| 78 | int MaxSup = (VSup*HSup); |
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| 79 | int *SupMovedBook = new int[MaxSup]; |
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| 80 | for (int j = 0; j<HSup; j++){ |
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| 81 | int Shift = j*VSup; |
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| 82 | for ( int i=0; i<VSup; i++){ |
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| 83 | SupMovedBook[i+Shift] = 0; // all value set to zero |
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| 84 | } |
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| 85 | } |
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| 86 | |
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| 87 | /* copy TexCoorOru to TexCoorOut*/ |
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| 88 | for ( int j = 0; j<HSup; j++){ |
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| 89 | int Shift = j*VSup; |
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| 90 | for ( int i=0; i<VSup; i++){ |
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| 91 | TexCoorOut[i+Shift] = TexCoorXOri[i+Shift]; // all value set to zero |
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| 92 | // printf("%f\n",TexCoorOut[i+Shift]); |
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| 93 | TexCoorOut[i+Shift+MaxSup] = TexCoorYOri[i+Shift]; // all value set to zero |
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| 94 | } |
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| 95 | } //Checked Coreect copy |
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| 96 | |
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| 97 | /* for each straight line stitch two rays*/ |
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| 98 | for ( int i= 0; i < NuStr; i++){ |
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| 99 | |
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| 100 | int HStart, HEnd; |
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| 101 | double Slope; |
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| 102 | double X1 = StraightLine[i]; |
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| 103 | double Y1 = StraightLine[i+NuStr]; |
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| 104 | double X2 = StraightLine[i+NuStr*2]; |
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| 105 | double Y2 = StraightLine[i+NuStr*3]; |
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| 106 | Slope = ( Y1 - Y2)/( X1 -X2); |
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| 107 | // printf(" %f %f\n", X1, X2); |
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| 108 | if ( X1 > X2){ |
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| 109 | HStart = (int) ceil( X2); |
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| 110 | HEnd = (int) floor( X1); |
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| 111 | } |
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| 112 | else{ |
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| 113 | HEnd = (int) floor( X2); |
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| 114 | HStart = (int) ceil( X1); |
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| 115 | } |
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| 116 | if (HStart > HEnd){ // exlude case when line didn't pass index |
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| 117 | continue; |
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| 118 | } |
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| 119 | if (HStart <1 | HStart > HSup | |
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| 120 | HEnd <1 | HEnd > HSup){ |
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| 121 | printf("HEnd %d HStart %d",HEnd,HStart); |
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| 122 | printf("X1 %f X2 %f\n",X1,X2); |
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| 123 | } |
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| 124 | // printf("%d %d \n", HEnd, HStart); |
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| 125 | |
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| 126 | /* bilding up Vertical Stitch */ |
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| 127 | for ( int k = HStart; k<=HEnd; k++){ |
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| 128 | int kMinusOne = k -1; |
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| 129 | if (HStart == HEnd){ |
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| 130 | break; // invalid vertical stitch for vertical line |
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| 131 | } |
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| 132 | double TarStitch = Slope*(k -X1) + Y1; |
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| 133 | int DownStitch = MIN( (int) ceil( TarStitch), VSup) -1; |
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| 134 | int UpStitch = MAX(DownStitch - 1,1) -1; |
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| 135 | if (TarStitch > VSup+0.5 | TarStitch <= 0.5){ |
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| 136 | printf(" VTarStitch = %f k %d X1 %f Y1 %f X2 %f Y2 %f\n", TarStitch,k,X1,Y1,X2,Y2); |
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| 137 | } |
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| 138 | |
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| 139 | if (SupMovedBook[DownStitch + VSup*kMinusOne ] !=1 ){ |
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| 140 | TexCoorOut[ DownStitch + VSup*kMinusOne + MaxSup ] = TarStitch; |
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| 141 | SupMovedBook[DownStitch + VSup*kMinusOne ] = 1; |
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| 142 | // printf(" TexCoorYOri %f\n", TexCoorYOri[ DownStitch + VSup*k ]); |
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| 143 | } |
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| 144 | if (SupMovedBook[UpStitch + VSup*kMinusOne ] !=1 ){ |
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| 145 | TexCoorOut[ UpStitch + VSup*kMinusOne + MaxSup ] = TarStitch; |
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| 146 | SupMovedBook[UpStitch + VSup*kMinusOne ] = 1; |
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| 147 | // printf(" TexCoorYOri %f\n", TexCoorYOri[ DownStitch + VSup*k ]); |
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| 148 | } |
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| 149 | } |
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| 150 | |
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| 151 | |
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| 152 | int VStart, VEnd; |
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| 153 | if ( Y1 > Y2){ |
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| 154 | VStart = (int) ceil( Y2); |
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| 155 | VEnd = (int) floor( Y1); |
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| 156 | } |
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| 157 | else{ |
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| 158 | VEnd = (int) floor( Y2); |
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| 159 | VStart = (int) ceil( Y1); |
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| 160 | } |
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| 161 | if (VStart > VEnd){ |
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| 162 | continue; |
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| 163 | } |
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| 164 | if (VStart <1 | VStart > VSup | |
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| 165 | VEnd <1 | VEnd > VSup){ |
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| 166 | printf("VEnd %d VStart %d",VEnd,VStart); |
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| 167 | printf("Y1 %f Y2 %f\n",Y1,Y2); |
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| 168 | } |
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| 169 | // printf("%d %d \n", VEnd, VStart); |
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| 170 | /* bilding up Horizontal Stitch */ |
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| 171 | for ( int k = VStart; k<=VEnd; k++){ |
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| 172 | if (VStart == VEnd){ |
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| 173 | break; // invalid vertical stitch for vertical line |
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| 174 | } |
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| 175 | double TarStitch = 1/Slope*( k - Y1) + X1; |
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| 176 | int LeftStitch = MAX( (int) floor( TarStitch),1) - 1; |
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| 177 | int RightStitch = MIN( LeftStitch + 1, HSup) - 1; |
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| 178 | if (TarStitch > HSup+0.5 | TarStitch <= 0.5){ |
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| 179 | printf(" HTarStitch = %f k %d X1 %f Y1 %f X2 %f Y2 %f\n", TarStitch,k,X1,Y1,X2,Y2); |
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| 180 | } |
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| 181 | |
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| 182 | if (SupMovedBook[LeftStitch*VSup + k-1] !=1 ){ |
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| 183 | TexCoorOut[ LeftStitch*VSup + k-1] = TarStitch; |
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| 184 | SupMovedBook[LeftStitch*VSup + k-1] = 1; |
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| 185 | } |
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| 186 | if (SupMovedBook[RightStitch*VSup + k-1] !=1 ){ |
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| 187 | TexCoorOut[ RightStitch*VSup + k-1 ] = TarStitch; |
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| 188 | SupMovedBook[RightStitch*VSup + k-1] = 1; |
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| 189 | } |
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| 190 | } |
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| 191 | |
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| 192 | } |
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| 193 | |
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| 194 | delete [] SupMovedBook; |
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| 195 | return; |
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| 196 | } |
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| 197 | |
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| 198 | /* mexFunctin (matlab interface will be removed later) */ |
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| 199 | void mexFunction( int nlhs, mxArray *plhs[], |
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| 200 | int nrhs, const mxArray *prhs[] ) |
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| 201 | { |
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| 202 | double *Sup; |
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| 203 | double *Boundary; |
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| 204 | double *StraightLine; |
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| 205 | double *TexCoorXOri; |
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| 206 | double *TexCoorYOri; |
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| 207 | double *TexCoorOut; |
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| 208 | |
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| 209 | unsigned int VSup, HSup, VB, HB, NuStr, v, h; |
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| 210 | |
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| 211 | /* Check for proper number of arguments */ |
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| 212 | |
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| 213 | if (nrhs != 5) { |
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| 214 | mexErrMsgTxt("Four input arguments required."); |
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| 215 | } else if (nlhs > 1) { |
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| 216 | mexErrMsgTxt("Too many output arguments."); |
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| 217 | } |
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| 218 | |
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| 219 | /* Check the dimensions of the inputs. */ |
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| 220 | |
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| 221 | VSup = mxGetM(SUP_IN); |
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| 222 | HSup = mxGetN(SUP_IN); |
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| 223 | if (!mxIsDouble(SUP_IN) || mxIsComplex(SUP_IN) ) { |
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| 224 | mexErrMsgTxt("The Data Type of Sup shouldn't be complex."); |
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| 225 | } |
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| 226 | VB = mxGetM(BOUNDARY_IN); |
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| 227 | HB = mxGetN(BOUNDARY_IN); |
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| 228 | if (!mxIsDouble(BOUNDARY_IN) || mxIsComplex(BOUNDARY_IN) ) { |
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| 229 | mexErrMsgTxt("The Data Type of Boundary shouldn't be complex."); |
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| 230 | } |
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| 231 | NuStr = mxGetM(STRAIGHLINE_IN); |
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| 232 | h = mxGetN(STRAIGHLINE_IN); |
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| 233 | if (!mxIsDouble(STRAIGHLINE_IN) || mxIsComplex(STRAIGHLINE_IN) || |
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| 234 | (h != 4) ) { |
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| 235 | mexErrMsgTxt("StraighLine matrix should always has 4 columns."); |
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| 236 | } |
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| 237 | v = mxGetM( TEXCOORX_IN); |
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| 238 | h = mxGetN( TEXCOORX_IN); |
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| 239 | if (!mxIsDouble( TEXCOORX_IN) || mxIsComplex( TEXCOORX_IN) || |
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| 240 | (v != VSup) || (h != HSup)) { |
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| 241 | mexErrMsgTxt("TextCoorX matrix should is wrong."); |
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| 242 | } |
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| 243 | v = mxGetM( TEXCOORY_IN); |
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| 244 | h = mxGetN( TEXCOORY_IN); |
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| 245 | if (!mxIsDouble( TEXCOORY_IN) || mxIsComplex( TEXCOORY_IN) || |
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| 246 | (v != VSup) || (h != HSup) ) { |
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| 247 | mexErrMsgTxt("TextCoorY matrix should is wrong."); |
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| 248 | } |
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| 249 | |
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| 250 | /* Create a matrix for the return argument */ |
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| 251 | int DIM[3]; |
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| 252 | DIM[0] = VSup; |
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| 253 | DIM[1] = HSup; |
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| 254 | DIM[2] = 2; |
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| 255 | TEXCOOR_OUT = mxCreateNumericArray( 3, DIM, mxDOUBLE_CLASS, mxREAL); |
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| 256 | TexCoorOut = mxGetPr(TEXCOOR_OUT); |
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| 257 | |
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| 258 | /* Assign pointers to the various parameters */ |
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| 259 | Sup = mxGetPr( SUP_IN); |
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| 260 | Boundary = mxGetPr( BOUNDARY_IN); |
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| 261 | StraightLine = mxGetPr( STRAIGHLINE_IN); |
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| 262 | TexCoorXOri = mxGetPr( TEXCOORX_IN); |
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| 263 | TexCoorYOri = mxGetPr( TEXCOORY_IN); |
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| 264 | |
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| 265 | /* Do the actual computations in a subroutine */ |
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| 266 | SupRayAlign( Sup, Boundary, StraightLine, TexCoorXOri, TexCoorYOri, TexCoorOut, VSup, HSup, VB, HB, NuStr); |
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| 267 | return; |
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| 268 | |
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| 269 | } |
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| 270 | |
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| 271 | |
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| 272 | |
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