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 [H] = calculateFilterBanks_old(img) %, type, numberOfStatistics) |
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40 | |
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41 | %if nargin < 3 |
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42 | % numberOfStatistics = 1; |
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43 | %end |
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44 | |
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45 | persistent L3 E3 S3 gMask % the Laws' masks |
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46 | persistent NB1 NB2 NB3 NB4 NB5 NB6 |
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47 | |
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48 | nLaw = 17; |
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49 | |
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50 | %nLaw = 0; |
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51 | %nRadon = 0; |
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52 | %nHarris = 0; |
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53 | %harrisSmoothingWidth = 9; |
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54 | |
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55 | %switch lower(type) |
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56 | % case 'purelaws' |
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57 | % nLaw = 9; |
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58 | % case {'laws', 'texture'} |
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59 | % nLaw = 17; |
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60 | % case {'harris', 'texture'} |
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61 | % nHarris = 10; |
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62 | % case {'radon'} |
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63 | % nRadon = nTopRadon*180/thetaStep; |
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64 | % case {'lawsradon'} |
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65 | % nLaw = 17; |
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66 | % nRadon = nTopRadon*180/thetaStep; |
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67 | % case {'lawsharris'} |
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68 | % nLaw = 17; |
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69 | % nHarris = 10; |
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70 | %end |
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71 | %nDim = nLaw + nHarris; |
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72 | |
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73 | %convultional filters |
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74 | if length(L3) <= 0 |
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75 | MatrixConditioner = .2; |
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76 | L3 = [1 2 1]/128/MatrixConditioner; |
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77 | E3 = [-1 0 1]; |
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78 | S3 = [-1 2 -1]; |
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79 | %L5 = [1 2 3 2 1]; %can be improved |
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80 | %L7 = [1 2 3 4 3 2 1]; % can be improved |
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81 | gMask = gaussMask(4,1.4); |
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82 | |
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83 | %Navatia Babu filters oriented at six angles (0,30,60,90,120,150) |
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84 | NB1 = [ -100, -100, 0, 100, 100; ... |
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85 | -100, -100, 0, 100, 100; ... |
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86 | -100, -100, 0, 100, 100; ... |
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87 | -100, -100, 0, 100, 100; ... |
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88 | -100, -100, 0, 100, 100]; |
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89 | NB2 = [ -100, 32, 100, 100, 100; ... |
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90 | -100,-78, 92, 100, 100; ... |
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91 | -100,-100, 0, 100, 100; ... |
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92 | -100,-100,-92, 78, 100; ... |
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93 | -100,-100,-100,-32, 100]; |
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94 | |
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95 | NB1 = NB1/2000; |
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96 | NB2 = NB2/2000; |
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97 | |
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98 | NB3 = -NB2'; |
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99 | NB4 = -NB1'; |
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100 | NB5 = -NB3(end:-1:1,:); |
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101 | NB6 = NB5'; |
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102 | end |
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103 | |
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104 | ycbcr_img = double(rgb2ycbcr(img)); %This computer has no image processing functions!! |
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105 | |
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106 | %ycbcr_img(:,:,1) = ycbcr_img(:,:,1) - mean( mean( ycbcr_img(:,:,1) )); |
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107 | %ycbcr_img(:,:,2) = ycbcr_img(:,:,2) - mean( mean( ycbcr_img(:,:,2) )); |
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108 | %ycbcr_img(:,:,3) = ycbcr_img(:,:,3) - mean( mean( ycbcr_img(:,:,3) )); |
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109 | |
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110 | imgY = ycbcr_img(:,:,1);% - mean( mean( ycbcr_img(:,:,1) )); |
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111 | %imgEdge = edge(imgY, 'sobel'); |
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112 | |
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113 | clear img; |
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114 | H = zeros( size(imgY,1), size(imgY,2), nLaw); |
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115 | %L3img = conv2(imgY, L3, 'valid'); |
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116 | %E3img = conv2(imgY, E3, 'valid'); |
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117 | %S3img = conv2(imgY, S3, 'valid'); |
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118 | %E3imgT = conv2(imgY, E3', 'valid'); |
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119 | |
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120 | temp = conv2(imgY, L3'*L3, 'valid'); |
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121 | temp = [ temp(1*ones(1,round((size(L3,2)-1)/2)),:); temp;... |
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122 | temp(end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))),:)]; |
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123 | H(:,:,1) = [temp(:,1*ones(1,round((size(L3,2)-1)/2))) temp... |
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124 | temp(:,end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))))]; |
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125 | |
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126 | temp = conv2(imgY, L3'*E3, 'valid'); |
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127 | temp = [ temp(1*ones(1,round((size(L3,2)-1)/2)),:); temp;... |
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128 | temp(end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))),:)]; |
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129 | H(:,:,2) = [temp(:,1*ones(1,round((size(E3,2)-1)/2))) temp... |
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130 | temp(:,end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))))]; |
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131 | |
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132 | temp = conv2(imgY, L3'*S3, 'valid'); |
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133 | temp = [ temp(1*ones(1,round((size(L3,2)-1)/2)),:); temp;... |
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134 | temp(end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))),:)]; |
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135 | H(:,:,3) = [temp(:,1*ones(1,round((size(S3,2)-1)/2))) temp... |
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136 | temp(:,end*ones(1,(size(S3,2)-1-round((size(S3,2)-1)/2))))]; |
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137 | |
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138 | temp = conv2(imgY, E3'*L3, 'valid'); |
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139 | temp = [ temp(1*ones(1,round((size(E3,2)-1)/2)),:); temp;... |
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140 | temp(end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))),:)]; |
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141 | H(:,:,4) = [temp(:,1*ones(1,round((size(L3,2)-1)/2))) temp... |
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142 | temp(:,end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))))]; |
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143 | |
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144 | temp = conv2(imgY, E3'*E3, 'valid'); |
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145 | temp = [ temp(1*ones(1,round((size(E3,2)-1)/2)),:); temp;... |
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146 | temp(end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))),:)]; |
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147 | H(:,:,5) = [temp(:,1*ones(1,round((size(E3,2)-1)/2))) temp... |
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148 | temp(:,end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))))]; |
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149 | |
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150 | temp = conv2(imgY, E3'*S3, 'valid'); |
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151 | temp = [ temp(1*ones(1,round((size(E3,2)-1)/2)),:); temp;... |
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152 | temp(end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))),:)]; |
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153 | H(:,:,6) = [temp(:,1*ones(1,round((size(S3,2)-1)/2))) temp... |
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154 | temp(:,end*ones(1,(size(S3,2)-1-round((size(S3,2)-1)/2))))]; |
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155 | |
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156 | temp = conv2(imgY, S3'*L3, 'valid'); |
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157 | temp = [ temp(1*ones(1,round((size(S3,2)-1)/2)),:); temp;... |
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158 | temp(end*ones(1,(size(S3,2)-1-round((size(S3,2)-1)/2))),:)]; |
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159 | H(:,:,7) = [temp(:,1*ones(1,round((size(L3,2)-1)/2))) temp... |
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160 | temp(:,end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))))]; |
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161 | |
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162 | temp = conv2(imgY, S3'*E3, 'valid'); |
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163 | temp = [ temp(1*ones(1,round((size(S3,2)-1)/2)),:); temp;... |
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164 | temp(end*ones(1,(size(S3,2)-1-round((size(S3,2)-1)/2))),:)]; |
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165 | H(:,:,8) = [temp(:,1*ones(1,round((size(E3,2)-1)/2))) temp... |
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166 | temp(:,end*ones(1,(size(E3,2)-1-round((size(E3,2)-1)/2))))]; |
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167 | |
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168 | temp = conv2(imgY, S3'*S3, 'valid'); |
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169 | temp = [ temp(1*ones(1,round((size(S3,2)-1)/2)),:); temp;... |
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170 | temp(end*ones(1,(size(S3,2)-1-round((size(S3,2)-1)/2))),:)]; |
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171 | H(:,:,9) = [temp(:,1*ones(1,round((size(S3,2)-1)/2))) temp... |
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172 | temp(:,end*ones(1,(size(S3,2)-1-round((size(S3,2)-1)/2))))]; |
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173 | |
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174 | temp = conv2( (ycbcr_img(:,:,2)), L3'*L3, 'valid'); |
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175 | temp = [ temp(1*ones(1,round((size(L3,2)-1)/2)),:); temp;... |
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176 | temp(end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))),:)]; |
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177 | H(:,:,10) = [temp(:,1*ones(1,round((size(L3,2)-1)/2))) temp... |
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178 | temp(:,end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))))]; |
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179 | |
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180 | temp = conv2( (ycbcr_img(:,:,3)), L3'*L3, 'valid'); |
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181 | temp = [ temp(1*ones(1,round((size(L3,2)-1)/2)),:); temp;... |
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182 | temp(end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))),:)]; |
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183 | H(:,:,11) = [temp(:,1*ones(1,round((size(L3,2)-1)/2))) temp... |
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184 | temp(:,end*ones(1,(size(L3,2)-1-round((size(L3,2)-1)/2))))]; |
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185 | |
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186 | %H(:,:,12) = conv2(E3img, L5', 'valid'); |
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187 | %H(:,:,13) = conv2(E3img, L7', 'valid'); |
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188 | %H(:,:,13) = conv2(E3imgT, L5, 'valid'); |
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189 | %H(:,:,15) = conv2(E3imgT, L7, 'valid'); |
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190 | |
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191 | temp = conv2(imgY, NB1, 'valid'); |
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192 | temp = [ temp(1*ones(1,round((size(NB1,1)-1)/2)),:); temp;... |
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193 | temp(end*ones(1,(size(NB1,1)-1-round((size(NB1,1)-1)/2))),:)]; |
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194 | H(:,:,12) = [temp(:,1*ones(1,round((size(NB1,2)-1)/2))) temp... |
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195 | temp(:,end*ones(1,(size(NB1,2)-1-round((size(NB1,2)-1)/2))))]; |
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196 | |
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197 | temp = conv2(imgY, NB2, 'valid'); |
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198 | temp = [ temp(1*ones(1,round((size(NB2,1)-1)/2)),:); temp;... |
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199 | temp(end*ones(1,(size(NB2,1)-1-round((size(NB2,1)-1)/2))),:)]; |
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200 | H(:,:,13) = [temp(:,1*ones(1,round((size(NB2,2)-1)/2))) temp... |
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201 | temp(:,end*ones(1,(size(NB2,2)-1-round((size(NB2,2)-1)/2))))]; |
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202 | |
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203 | temp = conv2(imgY, NB3, 'valid'); |
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204 | temp = [ temp(1*ones(1,round((size(NB3,1)-1)/2)),:); temp;... |
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205 | temp(end*ones(1,(size(NB3,1)-1-round((size(NB3,1)-1)/2))),:)]; |
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206 | H(:,:,14) = [temp(:,1*ones(1,round((size(NB3,2)-1)/2))) temp... |
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207 | temp(:,end*ones(1,(size(NB3,2)-1-round((size(NB3,2)-1)/2))))]; |
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208 | |
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209 | temp = conv2(imgY, NB4, 'valid'); |
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210 | temp = [ temp(1*ones(1,round((size(NB4,1)-1)/2)),:); temp;... |
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211 | temp(end*ones(1,(size(NB4,1)-1-round((size(NB4,1)-1)/2))),:)]; |
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212 | H(:,:,15) = [temp(:,1*ones(1,round((size(NB4,2)-1)/2))) temp... |
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213 | temp(:,end*ones(1,(size(NB4,2)-1-round((size(NB4,2)-1)/2))))]; |
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214 | |
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215 | temp = conv2(imgY, NB5, 'valid'); |
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216 | temp = [ temp(1*ones(1,round((size(NB5,1)-1)/2)),:); temp;... |
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217 | temp(end*ones(1,(size(NB5,1)-1-round((size(NB5,1)-1)/2))),:)]; |
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218 | H(:,:,16) = [temp(:,1*ones(1,round((size(NB5,2)-1)/2))) temp... |
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219 | temp(:,end*ones(1,(size(NB5,2)-1-round((size(NB5,2)-1)/2))))]; |
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220 | |
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221 | temp = conv2(imgY, NB6, 'valid'); |
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222 | temp = [ temp(1*ones(1,round((size(NB6,1)-1)/2)),:); temp;... |
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223 | temp(end*ones(1,(size(NB6,1)-1-round((size(NB6,1)-1)/2))),:)]; |
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224 | H(:,:,17) = [temp(:,1*ones(1,round((size(NB6,2)-1)/2))) temp... |
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225 | temp(:,end*ones(1,(size(NB6,2)-1-round((size(NB6,2)-1)/2))))]; |
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226 | H = abs(H); |
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227 | %H = H.^2; %Energy |
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228 | return; |
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229 | |
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230 | |
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231 | |
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232 | %=======for Harris texture gradient =========== |
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233 | %Ix2 = conv2(H2(:,:,12), gMask, 'valid'); |
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234 | %Iy2 = conv2(H2(:,:,14), gMask, 'valid'); |
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235 | %Ixy = conv2(H(:,:,12) .* H(:,:,14), gMask, 'valid'); |
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236 | |
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237 | %anglesHarris = zeros( size(Ix2,1), size(Ix2,2), 2); |
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238 | %eigValue = zeros( size(Ix2,1), size(Ix2,2), 2); |
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239 | %upsilon = 1e-23; |
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240 | |
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241 | %gradientMagImage = sqrt(H2(:,:,12) + H2(:,:,14) ); |
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242 | %angleImage = round( (nHarris-1) * (pi/2+atan( H(:,:,12) ./ (H(:,:,14)+upsilon))) /pi) + 1; |
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243 | |
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