[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 [TextureFeature, TextSup]=GenTextureFeature_InnerMulSup(Default, Img, SupMedScale, SmallSup, HiSup, FeatureType)%, maskg) |
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| 40 | |
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| 41 | % This function calculate all features that using the |
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| 42 | % output from calculateFilterBanks_old (Time and ram comsuming) |
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| 43 | % These Feature including AbsFeature DiffFeature HistogramFeature |
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| 44 | % FeatureTypr: 1 2 3 |
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| 45 | |
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| 46 | % Interface: |
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| 47 | % Input--- |
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| 48 | % 1) Default is the structure contain all the default parameter setting |
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| 49 | % 2) Img is the RGB image matrix |
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| 50 | % 3) SmallSup is Superpixel index matrix of size Default.VertYNuDepth Default.HoriXNuDepth |
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| 51 | % 4) HiSup is HiResolution Superpixel index matrix of size Default.SegVertYSize Default.SegHoriXSize or smaller |
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| 52 | % 5) FeatureType AbsFeature(1) DiffFeature(2) HistogramFeature(3) |
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| 53 | % Output--- |
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| 54 | % 1) TextureFeature.Abs: |
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| 55 | % 2) TextureFeature.Diff: |
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| 56 | % 3) TextureFeature.Hist: |
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| 57 | |
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| 58 | % Flag set up for testing purpose ======================================== |
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| 59 | % Must be stablized after testing XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX |
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| 60 | % Default.Flag.NormalizeFlag = 1; % Default.Flags.NormalizeFlag set to 1 if we want to normalize the Feature according to the Trainning Set |
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| 61 | DominateSupFilter = 1; % DominateSupFilter set to 1 if we want to use only the dominate superpixel area for acerage feature calculation |
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| 62 | % ======================================================================== |
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| 63 | |
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| 64 | % load FeaMax to do normalizeing |
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| 65 | load([Default.ParaFolder '/FeaMax.mat']); |
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| 66 | if Default.Flag.NormalizeFlag == 1 |
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| 67 | FeaMax = 10.^floor(log10(FeaMax)); |
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| 68 | else |
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| 69 | FeaMax(:) = 1; |
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| 70 | end |
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| 71 | |
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| 72 | % Initial Setting of TextureFeature Structure: |
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| 73 | % size(TextureFeature.Abs) = (No of Depth Point, No of Features: 17 texture filters, H2 and H4 kinds, 3 Scales) |
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| 74 | TextureFeature.Abs = zeros(Default.VertYNuDepth*Default.HoriXNuDepth, 17*2*3); |
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| 75 | TextureFeature.Diff = zeros(1,1); |
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| 76 | TextureFeature.Hist = zeros(1,1); |
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| 77 | |
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| 78 | % change the resolution in to exactly [TrainVerYSize TrainHoriXSize] |
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| 79 | |
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| 80 | if ~all(size(Img) == [Default.TrainVerYSize Default.TrainHoriXSize 3]) |
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| 81 | if Default.Flag.DisplayFlag |
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| 82 | disp('Resize to 2272 1704'); |
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| 83 | end |
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| 84 | Img = imresize(Img,[Default.TrainVerYSize Default.TrainHoriXSize],'bilinear'); |
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| 85 | end |
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| 86 | |
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| 87 | % Start the loop for 3 Scale |
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| 88 | fInd = 2; |
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| 89 | for i = 1:3 |
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| 90 | |
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| 91 | if DominateSupFilter && i==1 % only if DominateSupFilter and the largest scale will use superpixel mask |
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| 92 | SupMaskFlag = 1; |
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| 93 | else |
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| 94 | SupMaskFlag = 0; |
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| 95 | end |
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| 96 | |
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| 97 | % Generate the 17 texture filter output |
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| 98 | % set to global for InnerMultiple sup generation |
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| 99 | global H2; |
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| 100 | [H2] = calculateFilterBanks_old(Img); % (hard work 1min) use Ashutaosh's code |
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| 101 | |
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| 102 | % InnerMulSup ================================================================= |
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| 103 | if i == 2 |
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| 104 | [TextSup]=gen_TextSup_efficient_GlobalH2( Default); |
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| 105 | end |
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| 106 | % ===================================================================== |
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| 107 | |
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| 108 | % Scale Setting |
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| 109 | ResY = round(Default.TrainVerYSize/(3^(i))); % ResY ResX will be the new image size |
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| 110 | ResX = round(Default.TrainHoriXSize/(3^(i))); |
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| 111 | Img = imresize(Img,[ResY ResX],'nearest'); |
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| 112 | |
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| 113 | H2 = H2.^2; % Now H2 stand for H2 22222222222222222222222222222222222222222222222222222222222222222222222222222 |
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| 114 | |
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| 115 | if any(FeatureType == 1) % calculate the AbsFeatures |
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| 116 | StartAbs = 34*(i-1)+1; |
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| 117 | % [TextureFeature.Abs(:, (StartAbs):(StartAbs+16)) fInd]= AbsFeatureGenMex(Default, H2, SmallSup, HiSup, SupMaskFlag, FeaMax, fInd); |
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| 118 | [TextureFeature.Abs(:, (StartAbs):(StartAbs+16)) fInd]= ... |
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| 119 | AbsFeatureGenMex_MemoryEfficient(Default, SmallSup, HiSup, ... |
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| 120 | SupMaskFlag, FeaMax, fInd); |
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| 121 | end |
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| 122 | |
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| 123 | if any(FeatureType == 3) % calculate the HistogramFeature |
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| 124 | [relativeFeatureVector] = makeRelativeFeatureVector(H2,1); |
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| 125 | end |
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| 126 | |
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| 127 | if any(FeatureType == 2) % calculate the DiffFeature |
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| 128 | |
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| 129 | end |
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| 130 | |
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| 131 | % 2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 |
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| 132 | |
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| 133 | H2 = H2.^2; % This H2 is H4 44444444444444444444444444444444444444444444444444444444444444444444444444444444444 |
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| 134 | |
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| 135 | if any(FeatureType == 1) % calculate the AbsFeatures |
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| 136 | StartAbs = 34*(i-1)+1+17; |
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| 137 | % [TextureFeature.Abs(:, (StartAbs):(StartAbs+16)) fInd]= AbsFeatureGenMex(Default, H2, SmallSup, HiSup, SupMaskFlag, FeaMax, fInd); |
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| 138 | [TextureFeature.Abs(:, (StartAbs):(StartAbs+16)) fInd]= AbsFeatureGenMex_MemoryEfficient(Default, SmallSup, HiSup, SupMaskFlag, FeaMax, fInd); |
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| 139 | end |
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| 140 | % 444444444444444444444444444444444444444444444444444444444444444444444 |
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| 141 | |
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| 142 | clear global H2; |
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| 143 | end |
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| 144 | |
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| 145 | % GoundBoundaryFea |
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| 146 | RayCenter = GenerateRay(Default.HoriXNuDepth,Default.VertYNuDepth,'center',... |
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| 147 | Default.a_default,Default.b_default,Default.Ox_default,... |
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| 148 | Default.Oy_default); %[ horiXSizeLowREs VertYSizeLowREs 3] |
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| 149 | big_sup = imresize(SupMedScale,[Default.VertYNuDepth Default.HoriXNuDepth],'nearest'); |
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| 150 | DefaultGroundMask = [zeros(floor(Default.VertYNuDepth/2), Default.HoriXNuDepth); ones(Default.VertYNuDepth-floor(Default.VertYNuDepth/2), Default.HoriXNuDepth)]; |
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| 151 | GroundSupIndex = unique(big_sup(logical(DefaultGroundMask))); |
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| 152 | % GroundSupIndex = unique(big_sup(logical(maskg))); |
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| 153 | for j = 1:Default.HoriXNuDepth |
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| 154 | Gmask = logical(zeros(size( big_sup(:,j)))); |
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| 155 | for k=GroundSupIndex' |
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| 156 | Gmask(big_sup(:,j) == k) = true; |
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| 157 | end |
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| 158 | [rowSub colSub ] = find(Gmask); |
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| 159 | minRow = min(rowSub); |
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| 160 | |
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| 161 | GroundVertEdge(:,j) = (1-(Default.VertYNuDepth-1)/Default.VertYNuDepth)./RayCenter(:,j,3); |
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| 162 | if size(minRow,1) ~= 0 |
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| 163 | GroundVertEdge((minRow+1):Default.VertYNuDepth,j) = (1-((minRow+1):Default.VertYNuDepth)'/Default.VertYNuDepth)./RayCenter((minRow+1):Default.VertYNuDepth,j,3); |
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| 164 | GroundVertEdge(1:(minRow),j) = (1- minRow/Default.VertYNuDepth)./RayCenter(1:(minRow),j,3); |
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| 165 | end |
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| 166 | end |
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| 167 | GroundVertEdgePics = GroundVertEdge; |
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| 168 | |
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| 169 | TextureFeature.Abs = [ TextureFeature.Abs min([GroundVertEdgePics(:)... |
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| 170 | repmat((Default.VertYNuDepth:-1:1)'/Default.VertYNuDepth,[Default.HoriXNuDepth 1])./reshape(RayCenter(:,:,3),[],1)],[],2)]; |
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| 171 | % /FeaMax(end)]; |
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| 172 | |
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| 173 | TextureFeature.Abs = [SmallSup(:) TextureFeature.Abs]; |
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| 174 | |
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| 175 | return; |
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