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 [x,y,flag]=warmStart(A1,A2,b,c,M1,M2,NuSupSize) |
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40 | |
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41 | m=M1*2+M2; |
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42 | t=1000; |
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43 | epsilon=1e-5; |
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44 | mu=20; |
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45 | alpha=0.2; |
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46 | beta=0.5; |
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47 | %% may be later I can implement backtracking line search, as of now, working with small alpha; |
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48 | |
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49 | x=ones(3*NuSupSize,1); |
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50 | y=ones(M1,1); |
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51 | |
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52 | while((m/t)>epsilon) |
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53 | goOn=boolean(1); |
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54 | while(goOn) |
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55 | %D1=sparse(diag(1./([t1].^2))); |
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56 | %D2=sparse(diag(1./([t2].^2))); |
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57 | % size(b) |
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58 | % size(A1) |
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59 | % size(x) |
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60 | t1=b-A1*x+y; |
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61 | it1=1./t1; |
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62 | it1s=1./(t1.^2); |
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63 | t2=-b+A1*x+y; |
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64 | it2=1./t2; |
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65 | it2s=1./(t2.^2); |
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66 | t3=c-A2*x; |
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67 | t4=(it1s-it2s); |
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68 | t5=(it1s+it2s); |
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69 | D=spdiags((2./([y.^2 + (b-A1*x).^2])),0,M1,M1); |
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70 | D3=spdiags(1./(t3.^2),0,M2,M2); |
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71 | g1=A1'*[it1-it2]-A2'*[1./t3]; |
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72 | g2=t*ones(M1,1)-it1-it2; |
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73 | %g=g1+A1'*(D1-D2)*inv(D1+D2)*g2; |
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74 | g=g1+A1'*[(t4./t5).*g2]; |
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75 | % DeltaxNt=cgs(A1'*D*A1+A2'*D3*A2,-g); |
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76 | % DeltaxNt=pcg(A1'*D*A1+A2'*D3*A2,-g);%cgs(A1'*D*A1+A2'*D3*A2,-g); |
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77 | DeltaxNt=-pinv(A1'*D*A1+A2'*D3*A2)*g; |
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78 | DeltayNt=((t4.*(A1*DeltaxNt))-g2)./t5; |
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79 | x=x+alpha*DeltaxNt; |
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80 | y=y+alpha*DeltayNt; |
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81 | toler=norm(DeltaxNt./x) |
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82 | if(toler<epsilon) |
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83 | goOn=boolean(0); |
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84 | end |
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85 | end |
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86 | t=mu*t; |
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87 | end |
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