[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 [Sup,MedSup, status]=CleanedSup(Sup,MedSup,maskSky) |
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| 40 | |
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| 41 | displayFlag = false; |
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| 42 | status = 0; |
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| 43 | |
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| 44 | % This function clean the sup up to certain cretiria |
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| 45 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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| 46 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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| 47 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName; |
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| 48 | |
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| 49 | % 0)get ride of all the nonconnedted superpixel in MedSup |
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| 50 | NuMedSup = unique(MedSup)'; |
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| 51 | SE = strel('disk',3); |
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| 52 | for i = NuMedSup |
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| 53 | mask = MedSup ==i; |
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| 54 | [L,num] = bwlabel(mask,8); |
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| 55 | n = histc(L(:),1:num); |
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| 56 | [V maxL] = max(n); |
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| 57 | for j = setdiff(1:num,maxL) |
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| 58 | mask_dilate = imdilate(L == j,SE); |
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| 59 | mask_dilate(mask) = 0; |
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| 60 | if all(mask_dilate(:) == 0) |
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| 61 | %j |
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| 62 | disp('error using Mode empty') |
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| 63 | end |
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| 64 | MedSup(L ==j) = mode(double(MedSup(mask_dilate))); |
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| 65 | end |
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| 66 | end |
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| 67 | |
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| 68 | % 1) Make the MedSup have the same index as Sup |
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| 69 | NuSup = unique(Sup)'; |
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| 70 | NuMedSup = unique(MedSup)'; |
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| 71 | NuResidualSup = setdiff(NuMedSup,NuSup); |
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| 72 | if ~isempty(NuResidualSup) |
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| 73 | [Sup, MedSup]=Medi2SupIndex(Sup,MedSup); |
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| 74 | end |
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| 75 | %check |
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| 76 | NuSup = unique(Sup)'; |
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| 77 | NuMedSup = unique(MedSup)'; |
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| 78 | NuResidualSup = setdiff(NuMedSup,NuSup); |
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| 79 | if ~isempty(NuResidualSup) |
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| 80 | disp('error in CleanSup'); |
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| 81 | end |
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| 82 | |
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| 83 | % get rid of the Sky for both Sup and MedSup |
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| 84 | SkyCandidate = unique(Sup(maskSky)); |
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| 85 | % check connecting for SkyResidual |
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| 86 | % Do we need to deal with these residual?????? |
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| 87 | for i = SkyCandidate' |
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| 88 | mask = Sup == i; |
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| 89 | if sum(mask(maskSky))/sum(mask(:))>0.5 |
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| 90 | Medmask = MedSup == i; |
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| 91 | Sup(mask) = 0; |
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| 92 | MedSup(Medmask) = 0; |
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| 93 | end |
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| 94 | end |
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| 95 | maskSky = Sup == 0; |
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| 96 | |
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| 97 | if displayFlag, |
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| 98 | DisplaySup(Sup, 2000); |
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| 99 | end |
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| 100 | |
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| 101 | % extend the sky to merger small sup near sky |
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| 102 | ThreSmall = 10; |
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| 103 | SE = strel('disk',5); |
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| 104 | maskSky_dilate = imdilate(maskSky,SE); |
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| 105 | SmallSupNearSky = setdiff(Sup(maskSky_dilate),0); |
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| 106 | if ~isempty(SmallSupNearSky) |
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| 107 | for i = SmallSupNearSky' |
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| 108 | mask = Sup ==i; |
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| 109 | if sum(mask(:)) < ThreSmall |
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| 110 | Medmask = MedSup == i; |
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| 111 | % naive merge |
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| 112 | SE = strel('disk',3); |
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| 113 | mask_dilate = imdilate(mask,SE); |
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| 114 | mask_dilate(mask) = 0; |
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| 115 | mask_dilate(maskSky) = 0; |
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| 116 | target = mode(Sup(mask_dilate)); |
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| 117 | if isnan(target) |
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| 118 | Sup(mask) = 0; |
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| 119 | MedSup(Medmask) = 0; |
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| 120 | else |
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| 121 | Sup(mask) = target; |
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| 122 | MedSup(Medmask) = target; |
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| 123 | end |
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| 124 | end |
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| 125 | end |
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| 126 | end |
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| 127 | |
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| 128 | if displayFlag, |
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| 129 | figure(250), imagesc(Sup), |
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| 130 | newmap = [rand(max(Sup(:)),3); [0 0 0]]; |
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| 131 | colormap(newmap); |
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| 132 | %DisplaySup(Sup, 3500); |
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| 133 | end |
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| 134 | |
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| 135 | % 1) clearn the Sup first (default mask close) |
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| 136 | % with option to merge under other condition |
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| 137 | % use just a greedy closing algorithm |
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| 138 | NuSup = setdiff(unique(Sup)',0); |
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| 139 | for i = NuSup |
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| 140 | Medmask = MedSup == i; |
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| 141 | se = strel('diamond',10*3); |
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| 142 | CloseMask = imclose(Medmask,se); |
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| 143 | ClosedCandidate = setdiff(unique(MedSup(CloseMask)),i); |
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| 144 | if ~isempty(ClosedCandidate) |
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| 145 | for j = ClosedCandidate' |
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| 146 | if all(CloseMask(MedSup == j)) |
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| 147 | Sup( Sup == j) = i; |
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| 148 | MedSup( MedSup == j) = i; |
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| 149 | end |
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| 150 | end |
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| 151 | end |
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| 152 | end |
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| 153 | |
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| 154 | %Final check |
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| 155 | NuSup = unique(Sup)'; |
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| 156 | NuMedSup = unique(MedSup)'; |
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| 157 | NuResidualSup = setdiff(NuMedSup,NuSup); |
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| 158 | if ~isempty(NuResidualSup) |
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| 159 | disp('error in CleanSup'); |
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| 160 | % status = 1; |
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| 161 | end |
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| 162 | |
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