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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