[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 [StraightLinePriorSelectMatrix, RayPorjectImgMapY,RayPorjectImgMapX, MovedPatchBook, LineIndex,HBrokeBook,VBrokeBook] = ... |
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| 40 | StraightLinePrior(p,Img,lineSegList,LearnedDepth,RayPorjectImgMapY,RayPorjectImgMapX,MovedPatchBook,HBrokeBook,VBrokeBook,Verti,a,b,Ox,Oy); |
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| 41 | |
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| 42 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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| 43 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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| 44 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName; |
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| 45 | |
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| 46 | |
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| 47 | |
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| 48 | % initialize output |
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| 49 | LineIndex = []; |
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| 50 | StraightLinePriorSelectMatrix = [] ; |
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| 51 | |
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| 52 | % take out the line seg whiich is too short (2 can be changed) |
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| 53 | if Verti == 0 |
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| 54 | lineSegList(abs(max(min(round(lineSegList(:,1)),HoriXNuDepth),1)... |
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| 55 | -max(min(round(lineSegList(:,3)),HoriXNuDepth),1))<=2,:)=[]; |
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| 56 | figure(200); imagesc(Img); hold on; |
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| 57 | else |
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| 58 | lineSegList(abs(max(min(round(lineSegList(:,2)),VertYNuDepth),1)... |
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| 59 | -max(min(round(lineSegList(:,4)),VertYNuDepth),1))<=2,:)=[]; |
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| 60 | figure(300); imagesc(Img); hold on; |
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| 61 | |
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| 62 | end |
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| 63 | |
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| 64 | [ImgYSize ImgXSize dummy] = size(Img); |
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| 65 | NuSeg = size(lineSegList,1); |
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| 66 | |
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| 67 | % store the line |
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| 68 | tempLine = ((lineSegList+0.5)./repmat([HoriXNuDepth VertYNuDepth HoriXNuDepth VertYNuDepth],NuSeg,1)... |
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| 69 | .*repmat([ImgXSize ImgYSize ImgXSize ImgYSize],NuSeg,1))-0.5; |
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| 70 | if Verti==0 |
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| 71 | drawseg(tempLine,200,2); |
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| 72 | saveas(200,[ScratchDataFolder '/LineSeg/' filename{p} '_lineSegHori.jpg']); |
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| 73 | else |
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| 74 | drawseg(tempLine,300,2); |
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| 75 | saveas(300,[ScratchDataFolder '/LineSeg/' filename{p} '_lineSegVert.jpg']); |
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| 76 | end |
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| 77 | |
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| 78 | if NuSeg == 0 |
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| 79 | LineIndex{1,1} = []; |
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| 80 | LineIndex{1,2} = []; |
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| 81 | LineIndex{1,3} = []; |
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| 82 | LineIndex{1,4} = []; |
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| 83 | StraightLinePriorSelectMatrix = sparse(1,VertYNuDepth*HoriXNuDepth); |
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| 84 | disp('NuSeg==0') |
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| 85 | return; |
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| 86 | end |
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| 87 | |
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| 88 | % Sort by segemtn length |
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| 89 | List = sortrows([norms((lineSegList(:,1:2)-lineSegList(:,3:4))')' (1:NuSeg)'],1); |
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| 90 | lineSegList = lineSegList(List(:,end),:); |
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| 91 | |
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| 92 | % stick the patch to the straight line(If don't output ayPorjectImgMapY then no stick) |
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| 93 | %RayPorjectImgMapY = repmat((1:VertYNuDepth)',1,HoriXNuDepth); |
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| 94 | Count = 1 |
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| 95 | for k = NuSeg:-1:(1) |
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| 96 | % first find fixed x point to flexible y point |
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| 97 | if lineSegList(k,1)>lineSegList(k,3) % line always start from left to right |
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| 98 | Start = lineSegList(k,[3 4]); |
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| 99 | End = lineSegList(k,[1 2]); |
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| 100 | else |
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| 101 | End = lineSegList(k,[3 4]); |
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| 102 | Start = lineSegList(k,[1 2]); |
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| 103 | end |
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| 104 | |
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| 105 | % find out all the close point to the line |
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| 106 | X = max(ceil(Start(1)),1):min(floor(End(1)),HoriXNuDepth); %Define the fixed Horizontal position |
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| 107 | Y = Start(2)+(End(2)-Start(2))/(End(1)-Start(1)).*(X - Start(1)); %Corresponded Vertical position |
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| 108 | % make sure no Y <=1 and Y >= VertYNuDepth |
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| 109 | mask = Y <= 1 | Y >= VertYNuDepth; |
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| 110 | X(mask) = []; |
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| 111 | Y(mask) = []; |
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| 112 | |
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| 113 | % keep the record of the index that been stick to the line |
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| 114 | LineIndex{Count,1} =sub2ind([VertYNuDepth HoriXNuDepth ],min(max(floor(Y),1),VertYNuDepth),X); |
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| 115 | VBrokeBook(setdiff(LineIndex{Count,1},... |
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| 116 | sub2ind([VertYNuDepth HoriXNuDepth ],VertYNuDepth*ones(HoriXNuDepth,1),(1:HoriXNuDepth)'))) = 1; |
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| 117 | % make sure no LineIndex{Count,1} == LineIndex{Count,2} |
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| 118 | temp =sub2ind([VertYNuDepth HoriXNuDepth ],max(min(ceil(Y),VertYNuDepth),1),X); |
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| 119 | temp(temp==LineIndex{Count,1}) = temp(temp==LineIndex{Count,1})+1; |
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| 120 | LineIndex{Count,2} = temp; |
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| 121 | |
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| 122 | % first find fixed y point to flexible x point |
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| 123 | if lineSegList(k,2)>lineSegList(k,4) % line always start from top to bottom |
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| 124 | Start = lineSegList(k,[3 4]); |
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| 125 | End = lineSegList(k,[1 2]); |
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| 126 | else |
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| 127 | End = lineSegList(k,[3 4]); |
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| 128 | Start = lineSegList(k,[1 2]); |
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| 129 | end |
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| 130 | |
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| 131 | VY = max(ceil(Start(2)),1):min(floor(End(2)),VertYNuDepth); %Define the fixed Horizontal position |
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| 132 | VX = Start(1)+(End(1)-Start(1))/(End(2)-Start(2)).*(VY - Start(2)); %Corresponded Vertical position |
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| 133 | % make sure no Y <=1 and Y >= VertYNuDepth |
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| 134 | mask = VX <= 1 | VX >= HoriXNuDepth; |
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| 135 | VX(mask) = []; |
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| 136 | VY(mask) = []; |
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| 137 | |
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| 138 | % keep the record of the index that been stick to the line |
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| 139 | LineIndex{Count,3} =sub2ind([VertYNuDepth HoriXNuDepth ],VY,min(max(floor(VX),1),HoriXNuDepth)); |
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| 140 | HBrokeBook(setdiff(LineIndex{Count,3},... |
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| 141 | sub2ind([VertYNuDepth HoriXNuDepth ],(1:VertYNuDepth)',HoriXNuDepth*ones(VertYNuDepth,1)))) = 1; |
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| 142 | % make sure no LineIndex{Count,1} == LineIndex{Count,2} |
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| 143 | temp = sub2ind([VertYNuDepth HoriXNuDepth ],VY,max(min(ceil(VX),HoriXNuDepth),1)); |
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| 144 | temp(temp==LineIndex{Count,3}) = temp(temp==LineIndex{Count,3})+1; |
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| 145 | LineIndex{Count,4} = temp; |
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| 146 | |
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| 147 | if Verti == 1 |
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| 148 | X = VX; |
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| 149 | Y = VY; |
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| 150 | IndexUpper = LineIndex{Count,3}; |
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| 151 | IndexLower = LineIndex{Count,4}; |
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| 152 | else |
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| 153 | IndexUpper = LineIndex{Count,1}; |
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| 154 | IndexLower = LineIndex{Count,2}; |
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| 155 | end |
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| 156 | |
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| 157 | % make sure X is not empty |
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| 158 | if size(X,2) == 0 |
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| 159 | continue; |
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| 160 | end |
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| 161 | |
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| 162 | % generate specific ray for whole line |
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| 163 | RayLineY = ((VertYNuDepth+1-Y)-0.5)/VertYNuDepth - Oy; |
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| 164 | RayLineX = ((X)-0.5)/HoriXNuDepth - Ox; |
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| 165 | RayCenter = RayImPosition(RayLineY,RayLineX,a,b,Ox,Oy); %[ horiXSizeLowREs VertYSizeLowREs 3] |
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| 166 | % generating the axis of the plane that these rays lay on |
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| 167 | [U S V] = svd(permute(RayCenter,[3 2 1])); |
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| 168 | Ns = U(:,3); |
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| 169 | U = U(:,1:2); |
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| 170 | S = S(1:2,1:2); |
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| 171 | V = V(:,1:2); |
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| 172 | |
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| 173 | % calculate all the points in this plane coordinate U |
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| 174 | |
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| 175 | LSize = size(IndexUpper,2); |
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| 176 | PlaneCoordUpper = S*V'*[spdiags(LearnedDepth(IndexUpper)',0,LSize,LSize)]; |
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| 177 | PlaneCoordLower = S*V'*[spdiags(LearnedDepth(IndexLower)',0,LSize,LSize)]; |
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| 178 | |
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| 179 | if 0 %Sep(k)==1 |
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| 180 | % fit line for all the points in IndexUpper and IndexLower |
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| 181 | cvx_begin |
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| 182 | cvx_quiet(true); |
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| 183 | variable m(1); |
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| 184 | variable c(1); |
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| 185 | minimize(norm([-PlaneCoordUpper(2,:)' -ones(LSize,1)]*[m;c]+PlaneCoordUpper(1,:)',1)); |
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| 186 | cvx_end |
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| 187 | |
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| 188 | % generating NL vector |
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| 189 | NL = cross(Ns,U(:,2)+m*U(:,1)); |
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| 190 | NLUpper = NL./norm(NL); |
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| 191 | |
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| 192 | % fit line for all the points in IndexUpper and IndexLower |
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| 193 | cvx_begin |
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| 194 | cvx_quiet(true); |
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| 195 | variable m(1); |
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| 196 | variable c(1); |
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| 197 | minimize(norm([-PlaneCoordLower(2,:)' -ones(LSize,1)]*[m;c]+PlaneCoordLower(1,:)',1)); |
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| 198 | cvx_end |
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| 199 | |
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| 200 | % generating NL vector |
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| 201 | NL = cross(Ns,U(:,2)+m*U(:,1)); |
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| 202 | NLLower = NL./norm(NL); |
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| 203 | else |
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| 204 | % fit line for all the points in IndexUpper and IndexLower |
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| 205 | cvx_begin |
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| 206 | cvx_quiet(true); |
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| 207 | variable m(1); |
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| 208 | variable c(1); |
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| 209 | minimize(norm([[-PlaneCoordUpper(2,:)';-PlaneCoordLower(2,:)'] -ones(LSize*2,1)]*... |
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| 210 | [m;c]+[PlaneCoordUpper(1,:)';PlaneCoordLower(1,:)'],1)); |
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| 211 | cvx_end |
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| 212 | % generating NL vector |
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| 213 | NL = cross(Ns,U(:,2)+m*U(:,1)); |
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| 214 | NLLower = NL./norm(NL); |
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| 215 | NLUpper = NLLower; |
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| 216 | end |
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| 217 | |
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| 218 | [c,i] = setdiff(IndexUpper,MovedPatchBook); |
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| 219 | if Verti == 0 |
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| 220 | RayPorjectImgMapY(c) = Y(i); |
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| 221 | else |
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| 222 | RayPorjectImgMapX(c) = X(i); |
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| 223 | end |
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| 224 | for l = 1:(LSize-1) |
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| 225 | if any(MovedPatchBook==IndexUpper(l)) ||any(MovedPatchBook==IndexUpper(l+1)) |
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| 226 | continue; |
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| 227 | end |
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| 228 | SelectMatrix = sparse(1,VertYNuDepth*HoriXNuDepth); |
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| 229 | if Verti == 1 |
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| 230 | if abs(NLUpper'*[0; 1; 0]) > abs(NLUpper'*[0; 0; 1]) |
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| 231 | NLUpper = [0; 1; 0]; |
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| 232 | else |
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| 233 | NLUpper = [0; 0; 1]; |
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| 234 | end |
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| 235 | end |
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| 236 | SelectMatrix(IndexUpper(l)) = NLUpper'*permute(RayCenter(1,l,:),[3 2 1]); |
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| 237 | SelectMatrix(IndexUpper(l+1)) = -NLUpper'*permute(RayCenter(1,l+1,:),[3 2 1]); |
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| 238 | StraightLinePriorSelectMatrix = [StraightLinePriorSelectMatrix; SelectMatrix]; |
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| 239 | end |
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| 240 | MovedPatchBook = [MovedPatchBook c]; |
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| 241 | % Lower part |
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| 242 | [c,i] = setdiff(IndexLower,MovedPatchBook); |
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| 243 | if Verti == 0 |
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| 244 | RayPorjectImgMapY(c) = Y(i); |
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| 245 | else |
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| 246 | RayPorjectImgMapX(c) = X(i); |
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| 247 | end |
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| 248 | for l = 1:(LSize-1) |
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| 249 | if any(MovedPatchBook==IndexLower(l)) ||any(MovedPatchBook==IndexLower(l+1)) |
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| 250 | continue; |
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| 251 | end |
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| 252 | SelectMatrix = sparse(1,VertYNuDepth*HoriXNuDepth); |
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| 253 | if Verti == 1 |
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| 254 | if abs(NLLower'*[0; 1; 0]) > abs(NLLower'*[0; 0; 1]) |
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| 255 | NLLower = [0; 1; 0]; |
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| 256 | else |
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| 257 | NLLower = [0; 0; 1]; |
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| 258 | end |
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| 259 | end |
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| 260 | SelectMatrix(IndexLower(l)) = NLLower'*permute(RayCenter(1,l,:),[3 2 1]); |
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| 261 | SelectMatrix(IndexLower(l+1)) = -NLLower'*permute(RayCenter(1,l+1,:),[3 2 1]); |
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| 262 | StraightLinePriorSelectMatrix = [StraightLinePriorSelectMatrix; SelectMatrix]; |
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| 263 | end |
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| 264 | MovedPatchBook = [MovedPatchBook c]; |
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| 265 | Count = Count +1; |
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| 266 | end |
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| 267 | return; |
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