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 [relativeFeatureVector] = makeRelativeFeatureVector(H,scales)
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40 |
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41 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory...
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42 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default...
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43 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName;
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44 |
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45 | %global columnWidth rowWidth
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46 | global nDim nLaw
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47 | global nStatistics
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48 | global nHistBins
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49 | global minHist maxHist stepHist
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50 |
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51 | if nargin < 2
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52 | scale = 1;
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53 | end
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54 | %if nargin < 2
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55 | % type = 'laws';
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56 | %end
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57 |
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58 | nLaw = size(H,3);
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59 | numscales = length(scales);
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60 | H1size = nLaw;%nDim / nStatistics;
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61 |
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62 | nHistBins = 10;
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63 | %load([GeneralDataFolder '/maxHist.mat']);
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64 | %load([GeneralDataFolder '/minHist.mat']);
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65 | load([GeneralDataFolder '/MM.mat']);
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66 | if scales == 1
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67 | maxHist = Max{1}';
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68 | minHist = Min{1}';
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69 | elseif scales == 2
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70 | maxHist = Max{2}';
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71 | minHist = Min{2}';
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72 | else
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73 | maxHist = Max{3}';
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74 | minHist = Min{3}';
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75 | end
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76 | maxHist = log(1+maxHist);
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77 | minHist = log(1+minHist);
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78 | maxHist = log(1+maxHist);
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79 | minHist = log(1+minHist);
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80 |
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81 | %maxHist = [17, 12, 12, 12, 12, 12, 12, 12, 12, 15.9, 15.9, 24, 24, 24, 24, 24, 24]'; % How to pick values
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82 | %minHist = [10, 0, 0, 0, 0, 0, 0, 0, 0, 14.7, 14.7, 8, 8, 8, 8, 8, 8]';% How to pick values
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83 | maxHist = maxHist.^2;
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84 | minHist = minHist.^2;
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85 | stepHist = (maxHist - minHist) / (nHistBins-1);
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86 | step = 1/nHistBins;
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87 |
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88 |
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89 | %HistMinMax;
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90 | relativeFeatureVector = zeros( VertYNuDepth, HoriXNuDepth, H1size*numscales*nHistBins );
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91 |
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92 | %for s=1:numscales
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93 | s = 1;
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94 | scale = scales(1);
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95 | %reductionScale = 1/(2*(scale-1) + 1);
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96 | %if scale ~= 1
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97 | % resizedImg = imresize(img, reductionScale, 'bilinear');
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98 | %else
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99 | % resizedImg = img;
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100 | % end
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101 | %resizedImg(:,:,1) = medfilt2(resizedImg(:,:,1), [5, 5], 'symmetric');
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102 | %resizedImg(:,:,2) = medfilt2(resizedImg(:,:,2), [5, 5], 'symmetric');
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103 | %resizedImg(:,:,3) = medfilt2(resizedImg(:,:,3), [5, 5], 'symmetric');
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104 |
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105 | % numoverlaps = 0;
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106 | % if scale == 2
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107 | % numoverlaps = scale - 1;
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108 | % end
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109 | numoverlaps = scale - 1;
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110 |
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111 | edgefactor = (2*numoverlaps + 1);
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112 |
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113 | % Assume that the image is correctly oriented.
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114 | imheight = size(H, 1);
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115 | imwidth = size(H, 2);
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116 | % Step sizes in x and y
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117 | stepwidth = imwidth/HoriXNuDepth;
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118 | stepheight = imheight/VertYNuDepth;
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119 |
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120 | H = log( 1 + H );
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121 | H = log( 1 + H );
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122 | for l=1:nLaw
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123 | H(:,:,l) = (H(:,:,l) - repmat( minHist(l), size(H,1), size(H,2)) ) ./ ...
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124 | repmat( maxHist(l)-minHist(l), size(H,1), size(H,2) );
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125 | end
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126 | %====================================================================
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127 | %==================The Laws' Filters Applied=========================
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128 | %====================================================================
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129 |
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130 | intstepheight = floor((2*numoverlaps+1)*stepheight);
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131 | intstepwidth = floor((2*numoverlaps+1)*stepwidth);
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132 | for g = 1:VertYNuDepth
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133 | for c = 1:HoriXNuDepth
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134 | gridLeft = round( (g - 1 - numoverlaps)*stepheight + 1);
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135 | gridRight = round( (g + numoverlaps)*stepheight );
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136 | tempstep = gridRight - gridLeft + 1;
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137 | residue = tempstep - intstepheight;
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138 | if residue == 1
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139 | gridRight = gridRight - residue;
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140 | end
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141 | if residue > 1 || residue < 0
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142 | residue
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143 | display('oops');
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144 | end
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145 | normfactor = 1.0;
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146 | if gridLeft < 1
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147 | gridLeft = 1;
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148 | normfactor = normfactor * edgefactor / (numoverlaps + g);
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149 | elseif gridRight > (VertYNuDepth * stepheight)
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150 | gridRight = round(VertYNuDepth * stepheight);
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151 | normfactor = normfactor * edgefactor ...
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152 | / (numoverlaps + VertYNuDepth - g + 1);
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153 | end
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154 | gridTop = round( (c - 1 - numoverlaps)*stepwidth + 1);
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155 | gridBot = round( (c + numoverlaps)*stepwidth );
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156 | tempstep = gridBot - gridTop + 1;
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157 | residue = tempstep - intstepwidth;
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158 | if residue == 1
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159 | gridBot = gridBot - residue;
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160 | end
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161 | if residue > 1 || residue < 0
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162 | residue
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163 | display('oops');
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164 | end
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165 | if gridTop < 1
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166 | gridTop = 1;
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167 | normfactor = normfactor * edgefactor / (numoverlaps + c);
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168 | elseif gridBot > (HoriXNuDepth * stepwidth)
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169 | gridBot = round(HoriXNuDepth * stepwidth);
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170 | normfactor = normfactor * edgefactor ...
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171 | / (numoverlaps + HoriXNuDepth - c + 1);
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172 | end
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173 |
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174 |
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175 | % The Laws Histogram
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176 | tmpPatch = reshape( abs(H(gridLeft:gridRight, gridTop:gridBot, :)), ...
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177 | [(gridRight-gridLeft+1)*(gridBot-gridTop+1) nLaw]);
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178 | % histc( tmpPatch, min
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179 | rfv = histc( tmpPatch, [-inf, step:step:(1-step), inf]);
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180 | rfv = permute( reshape( rfv(1:nHistBins,:), nHistBins*H1size, 1), [2 3 1]);
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181 | relativeFeatureVector(g,c,...
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182 | ((s-1)*nHistBins*H1size + 1):( (s-1)*nHistBins*H1size + H1size*nHistBins) ) = ...
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183 | rfv;
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184 | end
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185 | end
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186 | clear H;
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187 |
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188 | %end
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189 | return;
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