[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 ReportPlaneParaMRF_Conditioned(Default, Sup, SupOri,depthMap,VarMapRaw, ... |
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| 40 | RayOri, Ray, SupNeighborTable, maskSky,maskG, MultiScaleSupTable, ... |
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| 41 | StraightLineTable); |
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| 42 | % This function runs the RMF over the plane parameter of each superpixels |
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| 43 | |
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| 44 | % Input: |
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| 45 | % Default- all default parameters |
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| 46 | % Sup - Superpixel, in 2-d matrix. |
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| 47 | % SupOri - original superpixel before cleaning |
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| 48 | % DepthMap - DepthMap from Learning or coarse measuring |
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| 49 | % VarMap - confidance for DepthMap (latest algo VarMap used simply one since the learning not generalized well) |
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| 50 | % RayOri - Rays without stiching to the boundary. |
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| 51 | % Ray - rays after stiching |
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| 52 | % SupNeighborTable - A lookup table for superpixels' neighbors (2-d sparse matrix) |
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| 53 | % maskSky - Sky mask |
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| 54 | % maskG - Ground mask |
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| 55 | % MultiScaleSupTable - multiple scale segmentation, used to define the weights betwenn the stiching terms. |
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| 56 | % StraightLineTable - straight line stiching, (not used in this version, but might be very usefulif implemented). |
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| 57 | |
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| 58 | % ------------------------------------------Finish Input Definition ------------------------------------------------ |
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| 59 | % Parameter setting |
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| 60 | % 1) Functional parameters |
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| 61 | FlagRemoveVerticalSupport = 1; % Enable Removing Vertical Support Depth at the second inference (risky if occluded) |
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| 62 | FlagEnableVarMap = 0; % Disabled |
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| 63 | gravity =true; % if true, apply the HoriConf and VertConf linear scale weight |
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| 64 | CoPST = true; % if true, apply the Straight line prior as the Co-Planar constrain |
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| 65 | % ============= Magic Number ============= |
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| 66 | StickHori = 5; %0.1; % sticking power in horizontal direction |
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| 67 | StickVert = 10; % sticking power in vertical direction |
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| 68 | Center = 2; % Co-Planar weight at the Center of each superpixel |
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| 69 | HoriConf = 1; % set the confidant of the learned depth at the middle in Horizontal direction of the image |
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| 70 | VertConf = 0.01; % set the confidant of the learned depth at the top of the image |
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| 71 | BandWith = 1; % Nov29 1 Nov30 0.1 check result change to 0.1 12/1 0.1 lost detail |
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| 72 | ClosestDist = 1; % define the closest distance that the MRF allows |
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| 73 | FarestDist = 1.5*median(depthMap(:)); % tried on university % nogood effect but keep it since usually it the rangelike this % change to 1.5 for church |
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| 74 | % The hand-tuned 14 dimensional vector correspose to the weights of 14 multiple segmentation |
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| 75 | if ~isempty(MultiScaleSupTable) |
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| 76 | MultiScaleFlag = true; % multiple segmentaition hypothesis |
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| 77 | WeiV = 2*ones(1,size(MultiScaleSupTable,2)-1); |
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| 78 | else |
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| 79 | MultiScaleFlag = false; |
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| 80 | WeiV = 1; |
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| 81 | end |
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| 82 | WeiV(1,1:2:end) = 6; % emphasize the middle scale three times smaller than large scale |
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| 83 | WeiV = WeiV./sum(WeiV);% normalize if pair of superpixels have same index in all the scale, their weight will be 10 |
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| 84 | ShiftStick = -.1; % between -1 and 0, more means more smoothing. |
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| 85 | ShiftCoP = -.5; % between -1 and 0, more means more smoothing. |
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| 86 | % ========================================================================= |
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| 87 | % If you go up in the vertical direction in the image, the weights change in the vertical direction. |
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| 88 | groundThreshold = cos([ zeros(1, Default.VertYNuDepth - ceil(Default.VertYNuDepth/2)+10) ... |
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| 89 | linspace(0,15,ceil(Default.VertYNuDepth/2)-10)]*pi/180); |
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| 90 | % v1 15 v2 20 too big v3 20 to ensure non misclassified as ground. |
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| 91 | % verticalThreshold = cos(linspace(5,55,Default.VertYNuDepth)*pi/180); % give a vector of size 55 in top to down : |
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| 92 | verticalThreshold = cos([ 5*ones(1,Default.VertYNuDepth - ceil(Default.VertYNuDepth/2)) ... |
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| 93 | linspace(5,55,ceil(Default.VertYNuDepth/2))]*pi/180); |
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| 94 | % give a vector of size 55 in top to down : |
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| 95 | % 50 means suface norm away from y axis more than 50 degree |
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| 96 | % ========================================================================= |
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| 97 | ceiling = 0*Default.VertYNuDepth; % set the position of the ceiling, related to No plane coming back constrain % changed for newchurch |
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| 98 | % ^^^^^This number means the lowest row that planes may go back just like a ceiling |
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| 99 | % ============= End of Magic Number ====== |
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| 100 | |
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| 101 | % 2) Opimization parameters |
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| 102 | % ============== parameters for the decomposition problem |
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| 103 | % Optimal parameters for current code: |
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| 104 | % For one machine: Sedumi: (1,1) Lpsolve:(3,1) |
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| 105 | % Multiple machines: Sedumi: (4,1) LPsolve:(3,1) |
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| 106 | % lpsolve running time is 22 seconds for (4,2) arrangement; but numerical |
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| 107 | % accuracy needs to be resolved first. |
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| 108 | XNuDecompose = 1; % up to 3 is stable |
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| 109 | YNuDecompose = 1; |
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| 110 | % ============ parameters for the decomposition problem |
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| 111 | solverVerboseLevel = 0; % set to 1 if you need msg out when solving optimization problem |
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| 112 | NoSecondStep = 0; % set to 1 if only want first level opt = no second step of vertical and horizontal objective |
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| 113 | |
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| 114 | % 3) Debug and evaluation paramters |
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| 115 | ExtractRelationInfo = 1; % set to 1 if need to storage the coplanar and connectivity weight to analyze |
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| 116 | |
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| 117 | % 4) Rendering parameters |
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| 118 | GridFlag = 0; % set to 1 if the wrl need grid of the triangle overlay |
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| 119 | |
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| 120 | % ==========================End of parameter setting ==================================== |
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| 121 | inferenceTime = tic; |
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| 122 | fprintf(['\n : Building Matrices.... ']); |
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| 123 | |
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| 124 | % ======= intermediant Data ===================================================================== |
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| 125 | % confidence of the supporting depth changes according to the row and column ========= |
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| 126 | mapVert = linspace(VertConf,1,Default.VertYNuDepth); % modeling the gravity prior: the topper the row is the lower the confidence of supporting depths |
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| 127 | mapHori = [linspace(HoriConf,1,round(Default.HoriXNuDepth/2)) fliplr(linspace(HoriConf,1,Default.HoriXNuDepth-round(Default.HoriXNuDepth/2)))]; |
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| 128 | % the more peripheral column the lower the confidence of supporting depths |
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| 129 | % ==================================================================================== |
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| 130 | % assign the confidance of the supporting depths |
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| 131 | if FlagEnableVarMap |
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| 132 | VarMap = zeros( size(VarMapRaw)); |
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| 133 | else |
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| 134 | VarMap = VarMapRaw; |
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| 135 | end |
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| 136 | CleanedDepthMap = depthMap; |
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| 137 | CleanedDepthMap(depthMap>FarestDist) = NaN; % set the supporting depths ti NaN means that depth is not effective in OPT, so we simply ignore the depth which is too far |
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| 138 | Posi3D = im_cr2w_cr(CleanedDepthMap,permute(RayOri,[2 3 1])); % given the depth and ray as input, calculate the 3-d coordinate at each point. |
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| 139 | |
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| 140 | % Clean the Sup near sky |
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| 141 | maskSky = Sup == 0; |
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| 142 | maskSkyEroded = imerode(maskSky, strel('disk', 4) ); |
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| 143 | SupEpand = ExpandSup2Sky(Sup,maskSkyEroded); % extend the sky using the cloesest Sup index, which mean the some part of the sky will be include in the sup but their supporting depth will not be used. |
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| 144 | |
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| 145 | NuSup = setdiff(unique(Sup)',0); % unique index of sup (not including sky index which is '0') |
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| 146 | NuSupSize = size(NuSup,2); % number of uniquew sup |
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| 147 | |
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| 148 | % Sup index and planeParameter index inverse map ======= useful tool====== |
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| 149 | % since sup index is not continuous, but the Parameter index over sup is continuous. Sup2Para is the maping stand for sup index to Parameter index |
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| 150 | Sup2Para = sparse(1,max(Sup(:))); |
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| 151 | Sup2Para(NuSup) = 1:NuSupSize; |
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| 152 | % ======================================================================== |
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| 153 | |
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| 154 | % =================please ignore here since StraightLineTable = [], NuLine = 0 ======== |
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| 155 | % constructiion of the Straight line prior matrix Will be add in the CoPlane matrix |
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| 156 | NuLine = size(StraightLineTable,2); |
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| 157 | CoPSTList = []; |
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| 158 | |
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| 159 | % effectively not running the straight line constraint here. |
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| 160 | for i = 1:NuLine |
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| 161 | L = StraightLineTable{i}; |
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| 162 | X = L(1:(end-1))'; |
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| 163 | Y = L(2:end)'; |
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| 164 | if isempty(X) |
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| 165 | continue; |
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| 166 | end |
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| 167 | for j = 1:size(X,1) |
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| 168 | if X(j)~=Y(j) |
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| 169 | CoPSTList = [CoPSTList; X(j) Y(j)]; |
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| 170 | end |
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| 171 | end |
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| 172 | end |
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| 173 | % Please ignore =============================================================== |
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| 174 | |
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| 175 | % ============end of generating intermediant Data =============================================== |
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| 176 | |
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| 177 | % Generate the Matrix for MRF ============================================================== |
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| 178 | PosiM = sparse(0,0); % supporting depth times ray terms |
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| 179 | VarM = sparse(0,0); % confidence terms |
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| 180 | RayAllM = sparse(0,0); % collection of every ray |
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| 181 | |
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| 182 | % keep record of the center of the sup is lower then the ceiling |
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| 183 | YPointer = []; % set to one if lower then the ceiling |
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| 184 | YPosition = []; % keep a record of the row of the center of the sup, useful when enforcing vertical and horizontal constrain |
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| 185 | |
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| 186 | for i = NuSup |
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| 187 | mask = SupEpand ==i; % include the Ray that will be use to expand the NonSky |
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| 188 | RayAllM = blkdiag( RayAllM, Ray(:,mask)'); % RayAllM will be putting on constrain of every ray that will be rendered, so should use SupEpand as mask |
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| 189 | |
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| 190 | mask = Sup ==i; % Not include the Ray that will be use to expand the NonSky |
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| 191 | [yt x] = find(mask); |
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| 192 | |
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| 193 | % find the center point of the sup |
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| 194 | CenterX = round(median(x)); |
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| 195 | CenterY = round(median(yt)); |
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| 196 | |
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| 197 | % if CenterY is lower than ceiling, then set YPointer for that sup to 1 so that it will not come back like a ceiling |
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| 198 | YPointer = [YPointer; CenterY >= ceiling]; |
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| 199 | |
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| 200 | % the horizontal and vertical enforcing in the second step OPT will depends on the height of the sup, so keep record of CenterY |
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| 201 | YPosition = [YPosition; CenterY]; |
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| 202 | |
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| 203 | % Not building PosiM and VarM, have to get rid of NaN depths |
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| 204 | mask(isnan(CleanedDepthMap)) = false; |
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| 205 | SupNuPatch(i) = sum(mask(:)); |
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| 206 | |
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| 207 | % find the center point of the sup |
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| 208 | [yt x] = find(mask); % notice VarM depends on the position of mask if gravity == 1 |
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| 209 | |
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| 210 | if ~all(mask(:)==0) |
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| 211 | if gravity |
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| 212 | if any(CleanedDepthMap(mask) <=0) |
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| 213 | CleanedDepthMap(mask) |
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| 214 | end |
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| 215 | PosiM = blkdiag(PosiM,Posi3D(:,mask)');%.*repmat( mapVert(yt)',[1 3]).*repmat( mapHori(x)',[1 3])); |
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| 216 | VarM = [VarM; VarMap(mask).*(mapVert(yt)').*( mapHori(x)')]; |
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| 217 | else |
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| 218 | PosiM = blkdiag(PosiM,Posi3D(:,mask)'); |
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| 219 | VarM = [VarM; VarMap(mask)]; |
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| 220 | end |
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| 221 | else |
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| 222 | PosiM = blkdiag(PosiM, Posi3D(:,mask)'); |
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| 223 | VarM = [VarM; VarMap(mask)]; |
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| 224 | end |
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| 225 | end |
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| 226 | % set 0 to -1 since this will make the sup higher than the ceiling enforce to come back, if you do not want this just keep 0 as 0 |
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| 227 | YPointer(YPointer==0) = -1; |
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| 228 | |
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| 229 | % buliding CoPlane Matrix========================================================================= |
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| 230 | |
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| 231 | % ===============please ignore here since CoPSTList = [], =============== |
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| 232 | NuSTList = 0; |
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| 233 | if CoPST |
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| 234 | NuSTList = size(CoPSTList,1); |
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| 235 | if ~isempty(CoPSTList) |
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| 236 | [V H] = size(SupNeighborTable); |
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| 237 | SupNeighborTable( CoPSTList(:,1)*V + CoPSTList(:,2)) = 1; |
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| 238 | SupNeighborTable( CoPSTList(:,2)*V + CoPSTList(:,1)) = 1; |
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| 239 | end |
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| 240 | end |
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| 241 | % ================please ignore============================================== |
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| 242 | |
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| 243 | CoPM1 = sparse(0,3*NuSupSize); |
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| 244 | CoPM2 = sparse(0,3*NuSupSize); |
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| 245 | CoPEstDepth = sparse(0,0); |
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| 246 | CoPNorM = []; |
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| 247 | WeiCoP = []; |
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| 248 | if ExtractRelationInfo == 1 |
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| 249 | % keeps the Wei of the relational Coplanar term here |
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| 250 | WeiM = sparse(max(NuSup),max(NuSup)); |
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| 251 | end |
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| 252 | |
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| 253 | for i = NuSup |
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| 254 | % pick the i's neightbot using SupNeighborTable |
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| 255 | Neighbor = find( SupNeighborTable(i,:) ~=0); |
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| 256 | Neighbor = Neighbor( Neighbor> i); |
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| 257 | % setup the relation between sup_i and sup_j since they are neighbors |
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| 258 | for j = Neighbor |
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| 259 | mask = Sup == i; |
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| 260 | SizeMaskAll = sum(mask(:)); |
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| 261 | [y x] = find(mask); |
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| 262 | % Coplanar term only use the center ray of each sup to enfore the cost |
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| 263 | CenterX = round(median(x)); |
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| 264 | CenterY = round(median(y)); |
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| 265 | y = find(mask(:,CenterX)); |
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| 266 | if ~isempty(y) |
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| 267 | CenterY = round(median(y)); |
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| 268 | end |
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| 269 | temp1 = sparse(1, 3*NuSupSize); |
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| 270 | temp2 = sparse(1, 3*NuSupSize); |
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| 271 | temp1(:,(Sup2Para( i)*3-2): Sup2Para( i)*3) = ... |
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| 272 | RayOri(:,CenterY,CenterX)'; |
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| 273 | temp2(:,(Sup2Para( j)*3-2): Sup2Para( j)*3) = ... |
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| 274 | RayOri(:,CenterY,CenterX)'; |
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| 275 | |
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| 276 | % assign wei for each pairs of neighbors |
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| 277 | if MultiScaleFlag |
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| 278 | vector = (MultiScaleSupTable(Sup2Para( i),2:end) == MultiScaleSupTable(Sup2Para( j),2:end)); |
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| 279 | expV = exp(-10*(WeiV*vector' + ShiftCoP) ); |
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| 280 | wei = 1/(1+expV); |
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| 281 | else |
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| 282 | wei = 1; |
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| 283 | end |
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| 284 | |
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| 285 | if ExtractRelationInfo == 1; % keep record |
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| 286 | WeiM(i,j) = wei; |
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| 287 | end |
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| 288 | |
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| 289 | oneRay1 = temp1*wei; |
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| 290 | oneRay2 = temp2*wei; |
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| 291 | |
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| 292 | tempWeiCoP = [SizeMaskAll]; |
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| 293 | CoPEstDepth = [CoPEstDepth; max(median(CleanedDepthMap(mask)),ClosestDist)]; |
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| 294 | |
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| 295 | mask = Sup == j; |
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| 296 | SizeMaskAll = sum(mask(:)); |
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| 297 | [y x] = find(mask); |
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| 298 | |
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| 299 | % Coplanar term only use the center ray of each sup to enfore the cost |
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| 300 | CenterX = round(median(x)); |
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| 301 | CenterY = round(median(y)); |
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| 302 | y = find(mask(:,CenterX)); |
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| 303 | if ~isempty(y) |
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| 304 | CenterY = round(median(y)); |
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| 305 | end |
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| 306 | |
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| 307 | temp1 = sparse(1, 3*NuSupSize); |
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| 308 | temp2 = sparse(1, 3*NuSupSize); |
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| 309 | temp1(:,(Sup2Para( i)*3-2): Sup2Para( i)*3) = ... |
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| 310 | RayOri(:,CenterY,CenterX)'; |
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| 311 | temp2(:,(Sup2Para( j)*3-2): Sup2Para( j)*3) = ... |
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| 312 | RayOri(:,CenterY,CenterX)'; |
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| 313 | |
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| 314 | % Instead of having separate L-1 terms for symmetric co-planar constraint; do the following: |
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| 315 | % If the penaly was ||.||_2^2 + ||.||_2^2; then the co-efficients are |
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| 316 | % some kind of average of two rays. For one norm; we take its average. |
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| 317 | % (do not divide by 2 because the penalty should be double. |
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| 318 | |
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| 319 | CoPM1 = [CoPM1; temp1*wei + oneRay1 ]; |
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| 320 | CoPM2 = [CoPM2; temp2*wei + oneRay2 ]; |
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| 321 | |
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| 322 | tempWeiCoP = [tempWeiCoP; SizeMaskAll]; |
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| 323 | WeiCoP = [WeiCoP; tempWeiCoP]; |
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| 324 | CoPEstDepth = [CoPEstDepth; max(median(CleanedDepthMap(mask)),ClosestDist)]; |
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| 325 | end |
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| 326 | end%========================================================================================================= |
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| 327 | |
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| 328 | %== find the boundary point that might need to be stick ot each other========================================== |
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| 329 | HoriStickM_i = sparse(0,3*NuSupSize); |
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| 330 | HoriStickM_j = sparse(0,3*NuSupSize); |
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| 331 | HoriStickPointInd = []; |
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| 332 | EstDepHoriStick = []; |
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| 333 | |
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| 334 | MAX_POINTS_STITCH_HORI = 2; % the actual code will be modified in another copy of the file |
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| 335 | MIN_POINTS_STITCH = 2; % ERROR: not used. |
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| 336 | |
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| 337 | % ================================================================ |
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| 338 | % NOTE: The actual algorithm should be picking precisely 2 points which are |
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| 339 | % FARTHEST away from the candidate set of neighbors. This algorithm |
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| 340 | % will ALWAYS work and produce no surprising results. |
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| 341 | |
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| 342 | % In some cases, one may experiment with picking only 1 point when the 2 |
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| 343 | % points are too close ---- this will make the algorithm faster; but might |
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| 344 | % produce surprising (e.g. a triangle sticking out) sometimes. |
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| 345 | % An ideal algorithm will reduce the number of points by checking for loops |
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| 346 | % passing through 3 or less superpixels through this matrix; and removing |
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| 347 | % them such that the smallest loop passes through 4 superpixels. (see EE263 |
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| 348 | % for a quick algorithm to do this -- involves product of matrices. |
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| 349 | % ================================================================== |
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| 350 | |
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| 351 | DIST_STICHING_THRESHOLD_HORI = 0.4; |
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| 352 | DIST_STICHING_THRESHOLD_HORI_ONLYCOL = -0.5; % effectively not used, |
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| 353 | |
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| 354 | % Ashutosh added to reduce linear dependancy of the objective ======= |
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| 355 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
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| 356 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
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| 357 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
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| 358 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
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| 359 | addedIndexList = [ ]; |
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| 360 | % =================================================================== |
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| 361 | |
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| 362 | % locate sup boundary at horizontal and vertical dircetion only for stitching terms |
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| 363 | BounaryPHori = conv2(Sup,[1 -1],'same') ~=0; |
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| 364 | BounaryPHori(:,end) = 0; |
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| 365 | BounaryPVert = conv2(Sup,[1; -1],'same') ~=0; |
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| 366 | BounaryPVert(end,:) = 0; |
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| 367 | |
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| 368 | % boundariesHoriIndex = find(BounaryPHori==1)'; |
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| 369 | % pre-select the boundary in order with the NuSup order |
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| 370 | for l = NuSup |
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| 371 | mask = Sup == l; |
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| 372 | boundariesHoriIndex = find(BounaryPHori==1 & mask)'; |
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| 373 | for i = boundariesHoriIndex |
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| 374 | j = i+Default.VertYNuDepth; |
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| 375 | if Sup(i) == 0 || Sup(j) == 0 |
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| 376 | continue; |
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| 377 | end |
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| 378 | SupPixelParsedList(Sup(i),Sup(j)) = SupPixelParsedList(Sup(i),Sup(j)) + 1; |
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| 379 | |
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| 380 | if SupPixelNeighborList(Sup(i),Sup(j)) == 0 |
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| 381 | recordAdded1(Sup(i),Sup(j)) = i; |
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| 382 | elseif SupPixelNeighborList(Sup(i),Sup(j)) >= MAX_POINTS_STITCH_HORI |
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| 383 | continue; |
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| 384 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 1 % inside this remove the close stiching terms |
---|
| 385 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 386 | rowN_older = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 387 | colN_older = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 388 | if abs(rowN - rowN_older) + (55/305)*abs(colN - colN_older) > DIST_STICHING_THRESHOLD_HORI && ... |
---|
| 389 | abs(colN - colN_older) > DIST_STICHING_THRESHOLD_HORI_ONLYCOL |
---|
| 390 | recordAdded2(Sup(i),Sup(j)) = i; |
---|
| 391 | else |
---|
| 392 | continue; |
---|
| 393 | end |
---|
| 394 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 2 %Assuming MAX_POINTS_STITCH = 3 |
---|
| 395 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 396 | rowN_older1 = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 397 | colN_older1 = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 398 | rowN_older2 = ceil( recordAdded2(Sup(i),Sup(j)) / 55); |
---|
| 399 | colN_older2 = rem( recordAdded2(Sup(i),Sup(j)), 55); |
---|
| 400 | |
---|
| 401 | if abs(rowN - rowN_older1) + (55/305)*abs(colN - colN_older1) > DIST_STICHING_THRESHOLD_HORI && ... |
---|
| 402 | abs(rowN - rowN_older2) + (55/305)*abs(colN - colN_older2) > DIST_STICHING_THRESHOLD_HORI |
---|
| 403 | ; |
---|
| 404 | else |
---|
| 405 | continue; |
---|
| 406 | end |
---|
| 407 | end |
---|
| 408 | |
---|
| 409 | % If you come here, it means you are probably adding it. |
---|
| 410 | SupPixelNeighborList(Sup(i),Sup(j)) = SupPixelNeighborList(Sup(i),Sup(j)) + 1; |
---|
| 411 | addedIndexList = [addedIndexList i]; |
---|
| 412 | end |
---|
| 413 | end |
---|
| 414 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
| 415 | %%%% this is supposed to be where the y and nu information are computed, |
---|
| 416 | %%%% keep an eye on this. |
---|
| 417 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
| 418 | % after analysis finally add to HoriStickM_j |
---|
| 419 | WeightHoriNeighborStitch = [ ]; |
---|
| 420 | for i = addedIndexList |
---|
| 421 | j = i+Default.VertYNuDepth; |
---|
| 422 | WeightHoriNeighborStitch = [WeightHoriNeighborStitch; SupPixelParsedList(Sup(i),Sup(j)) / ... |
---|
| 423 | SupPixelNeighborList(Sup(i),Sup(j)) ]; |
---|
| 424 | |
---|
| 425 | Target(1) = Sup2Para(Sup(i)); |
---|
| 426 | Target(2) = Sup2Para(Sup(j)); |
---|
| 427 | rayBoundary(:,1) = RayOri(:,i); |
---|
| 428 | rayBoundary(:,2) = RayOri(:,i); |
---|
| 429 | if MultiScaleFlag |
---|
| 430 | vector = (MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end)); |
---|
| 431 | expV = exp(-10*(WeiV*vector' + ShiftStick) ); |
---|
| 432 | betaTemp = StickHori*(0.5+1/(1+expV)); |
---|
| 433 | % therr should always be sticking (know don't care about occlusion) |
---|
| 434 | else |
---|
| 435 | betaTemp = StickHori; |
---|
| 436 | end |
---|
| 437 | temp = sparse(3,NuSupSize); |
---|
| 438 | temp(:,Target(1)) = rayBoundary(:,1); |
---|
| 439 | HoriStickM_i = [HoriStickM_i; betaTemp*temp(:)']; |
---|
| 440 | temp = sparse(3,NuSupSize); |
---|
| 441 | temp(:,Target(2)) = rayBoundary(:,2); |
---|
| 442 | HoriStickM_j = [HoriStickM_j; betaTemp*temp(:)']; |
---|
| 443 | EstDepHoriStick = [EstDepHoriStick; sqrt(max(CleanedDepthMap(i),ClosestDist)*max(CleanedDepthMap(j),ClosestDist))]; |
---|
| 444 | HoriStickPointInd = [HoriStickPointInd i ]; |
---|
| 445 | end |
---|
| 446 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
| 447 | %%%% end of y and nu computation. |
---|
| 448 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
| 449 | % ============================================== |
---|
| 450 | |
---|
| 451 | % ======== finding the unucessary stiching points in Vertical direction ==== |
---|
| 452 | VertStickM_i = sparse(0,3*NuSupSize); |
---|
| 453 | VertStickM_j = sparse(0,3*NuSupSize); |
---|
| 454 | VertStickPointInd = []; |
---|
| 455 | EstDepVertStick = []; |
---|
| 456 | |
---|
| 457 | MAX_POINTS_STITCH_VERT = 4; %3 |
---|
| 458 | DIST_STICHING_THRESHOLD_VERT = 0.1; %0.3 |
---|
| 459 | DIST_STICHING_THRESHOLD_VERT_ONLYCOL = -0.5; % effectively not used, ideally should be 0.5; i.e., the point should be farther in col direction because that is the direction of the edge. |
---|
| 460 | |
---|
| 461 | % Ashutosh added to reduce linear dependancy of the objective ======= |
---|
| 462 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 463 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 464 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 465 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 466 | addedIndexList = [ ]; |
---|
| 467 | % =============================== |
---|
| 468 | |
---|
| 469 | % pre-select the boundary in order with the NuSup order |
---|
| 470 | for l = NuSup |
---|
| 471 | mask = Sup == l; |
---|
| 472 | for i = find(BounaryPVert==1 & mask)' |
---|
| 473 | j = i+1; |
---|
| 474 | if Sup(i) == 0 || Sup(j) == 0 |
---|
| 475 | continue; |
---|
| 476 | end |
---|
| 477 | SupPixelParsedList(Sup(i),Sup(j)) = SupPixelParsedList(Sup(i),Sup(j)) + 1; |
---|
| 478 | |
---|
| 479 | if SupPixelNeighborList(Sup(i),Sup(j)) == 0 |
---|
| 480 | recordAdded1(Sup(i),Sup(j)) = i; |
---|
| 481 | elseif SupPixelNeighborList(Sup(i),Sup(j)) >= MAX_POINTS_STITCH_VERT |
---|
| 482 | continue; |
---|
| 483 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 1 % inside this remove the close stiching terms |
---|
| 484 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 485 | rowN_older = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 486 | colN_older = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 487 | if abs(rowN - rowN_older) + (55/305)*abs(colN - colN_older) > DIST_STICHING_THRESHOLD_VERT && ... |
---|
| 488 | abs(colN - colN_older) > DIST_STICHING_THRESHOLD_VERT_ONLYCOL |
---|
| 489 | recordAdded2(Sup(i),Sup(j)) = i; |
---|
| 490 | else |
---|
| 491 | continue; |
---|
| 492 | end |
---|
| 493 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 2 %Assuming MAX_POINTS_STITCH = 3 |
---|
| 494 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 495 | rowN_older1 = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 496 | colN_older1 = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 497 | rowN_older2 = ceil( recordAdded2(Sup(i),Sup(j)) / 55); |
---|
| 498 | colN_older2 = rem( recordAdded2(Sup(i),Sup(j)), 55); |
---|
| 499 | |
---|
| 500 | if abs(rowN - rowN_older1) + (55/305)*abs(colN - colN_older1) > DIST_STICHING_THRESHOLD_VERT && ... |
---|
| 501 | abs(rowN - rowN_older2) + (55/305)*abs(colN - colN_older2) > DIST_STICHING_THRESHOLD_VERT |
---|
| 502 | ; |
---|
| 503 | else |
---|
| 504 | continue; |
---|
| 505 | end |
---|
| 506 | end |
---|
| 507 | |
---|
| 508 | % If you come here, it means you are probably adding it. |
---|
| 509 | SupPixelNeighborList(Sup(i),Sup(j)) = SupPixelNeighborList(Sup(i),Sup(j)) + 1; |
---|
| 510 | addedIndexList = [addedIndexList i]; |
---|
| 511 | end |
---|
| 512 | end |
---|
| 513 | |
---|
| 514 | % after analysis finally add to VertStickM_j |
---|
| 515 | WeightVertNeighborStitch = [ ]; |
---|
| 516 | for i = addedIndexList |
---|
| 517 | j = i+1; |
---|
| 518 | WeightVertNeighborStitch = [WeightVertNeighborStitch; SupPixelParsedList(Sup(i),Sup(j)) / ... |
---|
| 519 | SupPixelNeighborList(Sup(i),Sup(j)) ]; |
---|
| 520 | Target(1) = Sup2Para(Sup(i)); |
---|
| 521 | Target(2) = Sup2Para(Sup(j)); |
---|
| 522 | rayBoundary(:,1) = RayOri(:,i); |
---|
| 523 | rayBoundary(:,2) = RayOri(:,i); |
---|
| 524 | if MultiScaleFlag |
---|
| 525 | vector = (MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end)); |
---|
| 526 | expV = exp(-10*(WeiV*vector' + ShiftStick) ); |
---|
| 527 | betaTemp = StickVert*(0.5+1/(1+expV)); |
---|
| 528 | % therr should always be sticking (know don't care about occlusion) |
---|
| 529 | else |
---|
| 530 | betaTemp = StickVert; |
---|
| 531 | end |
---|
| 532 | temp = sparse(3,NuSupSize); |
---|
| 533 | temp(:,Target(1)) = rayBoundary(:,1); |
---|
| 534 | VertStickM_i = [VertStickM_i; betaTemp*temp(:)']; |
---|
| 535 | temp = sparse(3,NuSupSize); |
---|
| 536 | temp(:,Target(2)) = rayBoundary(:,2); |
---|
| 537 | VertStickM_j = [VertStickM_j; betaTemp*temp(:)']; |
---|
| 538 | EstDepVertStick = [EstDepVertStick; sqrt(max(CleanedDepthMap(i),ClosestDist)*max(CleanedDepthMap(j),ClosestDist))]; |
---|
| 539 | VertStickPointInd = [VertStickPointInd i ]; |
---|
| 540 | end |
---|
| 541 | % ====finished finding the unucessary stiching points in Vertical direction === |
---|
| 542 | |
---|
| 543 | % ======================================Finish building up matrix=====================hard work====================== |
---|
| 544 | |
---|
| 545 | |
---|
| 546 | % ================================================================================================================ |
---|
| 547 | % Start Decompose the image align with superpixels ================================================================================== |
---|
| 548 | % define the decomposition in both X and Y direction |
---|
| 549 | |
---|
| 550 | TotalRectX = 2*XNuDecompose-1; |
---|
| 551 | TotalRectY= 2*YNuDecompose-1; |
---|
| 552 | PlanePara = NaN*ones(3*NuSupSize,1); % setup the lookup table for the solved plane parameter |
---|
| 553 | |
---|
| 554 | for k = 0:(TotalRectX-1) |
---|
| 555 | l = rem(k*2,(TotalRectX)); |
---|
| 556 | RangeX = (1+ceil(Default.HoriXNuDepth/XNuDecompose)*l/2):... |
---|
| 557 | min((1+ceil(Default.HoriXNuDepth/XNuDecompose)*(l/2+1)),Default.HoriXNuDepth); |
---|
| 558 | RangeX = ceil(RangeX); |
---|
| 559 | for q = 0:(TotalRectY-1) |
---|
| 560 | l = rem(q*2,(TotalRectY)); |
---|
| 561 | RangeY = (1+ceil(Default.VertYNuDepth/YNuDecompose)*l/2):... |
---|
| 562 | min((1+ceil(Default.VertYNuDepth/YNuDecompose)*(l/2+1)),Default.VertYNuDepth); |
---|
| 563 | RangeY = ceil(RangeY); |
---|
| 564 | mask = zeros(size(Sup)); |
---|
| 565 | mask(RangeY,RangeX) = 1; |
---|
| 566 | mask =logical(mask); |
---|
| 567 | SubSup = sort(setdiff(unique( reshape( Sup(RangeY,RangeX),1,[])),0)); |
---|
| 568 | BoundarySup = []; |
---|
| 569 | |
---|
| 570 | if any(SubSup <=0) |
---|
| 571 | SubSup(SubSup<=0) |
---|
| 572 | end |
---|
| 573 | BoundarySup = find(sum(SupNeighborTable(SubSup,:), 1) ~=0); |
---|
| 574 | BoundarySup = unique(setdiff(BoundarySup,[0 SubSup] )); |
---|
| 575 | |
---|
| 576 | % chech if BoundarySup non-NaN in PlanePara |
---|
| 577 | checkNoNNaN = ~isnan(PlanePara(Sup2Para(BoundarySup)*3)); |
---|
| 578 | BoundarySup = BoundarySup(checkNoNNaN); |
---|
| 579 | TotalSup = sort([SubSup BoundarySup]); |
---|
| 580 | |
---|
| 581 | % define the pointer to extract the data for this specific decomposition |
---|
| 582 | SubSupPtr = [ Sup2Para(SubSup)*3-2;... |
---|
| 583 | Sup2Para(SubSup)*3-1;... |
---|
| 584 | Sup2Para(SubSup)*3]; |
---|
| 585 | SubSupPtr = SubSupPtr(:); |
---|
| 586 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 587 | Sup2Para(BoundarySup)*3-1;... |
---|
| 588 | Sup2Para(BoundarySup)*3]; |
---|
| 589 | BoundarySupPtr = BoundarySupPtr(:); |
---|
| 590 | NuSubSupSize = size(SubSup,2); |
---|
| 591 | |
---|
| 592 | % simply extract NewRayAllM NewPosiM NewCoPM ========================================= |
---|
| 593 | % NewHoriStickM NewVertStickM for the specific decomposition |
---|
| 594 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 595 | tar = sum(NewRayAllM ~= 0,2) == 3; |
---|
| 596 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 597 | NewPosiM = PosiM(:,SubSupPtr); |
---|
| 598 | tar = sum(NewPosiM ~= 0,2) == 3; |
---|
| 599 | NewPosiM = NewPosiM(tar,:); |
---|
| 600 | NewVarM = VarM(tar); |
---|
| 601 | |
---|
| 602 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 603 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 604 | |
---|
| 605 | tar = sum(NewCoPM ~= 0,2) + sum(NewCoPMBound ~= 0,2)==6; |
---|
| 606 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); |
---|
| 607 | NewCoPM = NewCoPM(tar,:); |
---|
| 608 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 609 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 610 | |
---|
| 611 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 612 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 613 | |
---|
| 614 | tar = sum(NewHoriStickM ~= 0,2)+ sum(NewHoriStickMBound ~= 0,2) ==6; |
---|
| 615 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 616 | NewEstDepHoriStick = EstDepHoriStick(tar); |
---|
| 617 | NewHoriStickMBound = NewHoriStickMBound*PlanePara(BoundarySupPtr); |
---|
| 618 | NewHoriStickMBound = NewHoriStickMBound(tar); |
---|
| 619 | NewWeightHoriNeighborStitch = WeightHoriNeighborStitch(tar); |
---|
| 620 | |
---|
| 621 | NewVertStickM = VertStickM_i(:,SubSupPtr)-VertStickM_j(:,SubSupPtr); |
---|
| 622 | NewVertStickMBound = VertStickM_i(:,BoundarySupPtr)-VertStickM_j(:,BoundarySupPtr); |
---|
| 623 | |
---|
| 624 | tar = sum(NewVertStickM ~= 0,2) + sum(NewVertStickMBound ~= 0,2)==6; |
---|
| 625 | NewVertStickM = NewVertStickM(tar,:); |
---|
| 626 | NewEstDepVertStick = EstDepVertStick(tar); |
---|
| 627 | NewVertStickMBound = NewVertStickMBound*PlanePara(BoundarySupPtr); |
---|
| 628 | NewVertStickMBound = NewVertStickMBound(tar); |
---|
| 629 | NewWeightVertNeighborStitch = WeightVertNeighborStitch(tar); |
---|
| 630 | |
---|
| 631 | WeightsSelfTerm = 1 ./ exp(abs(NewVarM)/BandWith); |
---|
| 632 | % ==========================end of extraction ==================== |
---|
| 633 | |
---|
| 634 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : In 1st level Optimization, using new solver.' ... |
---|
| 635 | '(' num2str(k+1) '/' num2str((TotalRectX-1)+1) ',' num2str(l+1) '/' num2str((TotalRectY-1)+1) ')']); |
---|
| 636 | |
---|
| 637 | global A b S inq |
---|
| 638 | |
---|
| 639 | A = [ sparse(1:length(WeightsSelfTerm),1:length(WeightsSelfTerm),WeightsSelfTerm ) * NewPosiM;... |
---|
| 640 | sparse(1:length(NewCoPEstDepth),1:length(NewCoPEstDepth),NewCoPEstDepth*Center ) * NewCoPM;... |
---|
| 641 | sparse(1:length(NewEstDepHoriStick), 1:length(NewEstDepHoriStick), NewEstDepHoriStick.*NewWeightHoriNeighborStitch) * NewHoriStickM;... |
---|
| 642 | sparse(1:length(NewEstDepVertStick), 1:length(NewEstDepVertStick), NewEstDepVertStick.*NewWeightVertNeighborStitch) * NewVertStickM;... |
---|
| 643 | ]; |
---|
| 644 | |
---|
| 645 | b = [ ones(size(NewPosiM,1),1) .* WeightsSelfTerm;... |
---|
| 646 | -NewCoPMBound.*NewCoPEstDepth*Center;... |
---|
| 647 | -NewHoriStickMBound.*NewEstDepHoriStick.*NewWeightHoriNeighborStitch;... |
---|
| 648 | -NewVertStickMBound.*NewEstDepVertStick.*NewWeightVertNeighborStitch]; |
---|
| 649 | |
---|
| 650 | temp = zeros(1, NuSubSupSize*3); |
---|
| 651 | temp(3*(1:NuSubSupSize)-1) = YPointer(Sup2Para(SubSup)); |
---|
| 652 | temp = sparse(1:length(temp), 1:length(temp), temp); |
---|
| 653 | temp( sum(temp,2) ==0,:) = []; |
---|
| 654 | S = [temp;... |
---|
| 655 | NewRayAllM;... |
---|
| 656 | -NewRayAllM]; |
---|
| 657 | inq = [ sparse(size(temp,1), 1);... |
---|
| 658 | - 1/ClosestDist*ones(size(NewRayAllM,1),1);... |
---|
| 659 | 1/FarestDist*ones(size(NewRayAllM,1),1)]; |
---|
| 660 | Para.ClosestDist = ClosestDist; |
---|
| 661 | Para.FarestDist = FarestDist; |
---|
| 662 | Para.ptry = []; |
---|
| 663 | Para.ptrz = []; |
---|
| 664 | Para.Dist_Start = []; |
---|
| 665 | |
---|
| 666 | % solve the OPT problem using the new solver |
---|
| 667 | [x_ashIterator, alfa, status, history, T_nt_hist] = ... |
---|
| 668 | SigmoidLogBarrierSolver( Para, [], [], [], '', [], [], solverVerboseLevel); |
---|
| 669 | |
---|
| 670 | % check if the constrian still satisfied |
---|
| 671 | if any(S*x_ashIterator+inq > 0 ) |
---|
| 672 | disp('Inequality not satisfied'); |
---|
| 673 | max( S*x_ashIterator+inq) |
---|
| 674 | elseif status == 2 |
---|
| 675 | fprintf([' Success with alfa=' num2str(alfa)]); |
---|
| 676 | end |
---|
| 677 | |
---|
| 678 | % assign the solution of specific decomposition to the corresponding entries of the whole problems |
---|
| 679 | PlanePara(SubSupPtr) = x_ashIterator; |
---|
| 680 | end |
---|
| 681 | end |
---|
| 682 | |
---|
| 683 | % build the whole image |
---|
| 684 | PlanePara = reshape(PlanePara,3,[]); |
---|
| 685 | % porject the ray on planes to generate the ProjDepth |
---|
| 686 | FitDepthPPCP = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 687 | FitDepthPPCP(~maskSkyEroded) = (1./sum(PlanePara(:,Sup2Para(SupEpand(~maskSkyEroded ))).*Ray(:,~maskSkyEroded ),1))'; |
---|
| 688 | FitDepthPPCP = reshape(FitDepthPPCP,Default.VertYNuDepth,[]); |
---|
| 689 | [Position3DFitedPPCP] = im_cr2w_cr(FitDepthPPCP,permute(Ray,[2 3 1])); |
---|
| 690 | |
---|
| 691 | if NoSecondStep % if no second step |
---|
| 692 | Position3DFitedPPCP(3,:) = -Position3DFitedPPCP(3,:); |
---|
| 693 | Position3DFitedPPCP = permute(Position3DFitedPPCP,[2 3 1]); |
---|
| 694 | RR =permute(Ray,[2 3 1]); |
---|
| 695 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 696 | PositionTex = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),[Default.VertYNuDepth Default.HoriXNuDepth 1])+repmat(cat(3,Default.Ox_default,Default.Oy_default),[Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
---|
| 697 | PositionTex = permute(PositionTex,[2 3 1]) |
---|
| 698 | disp('First level Wrl'); |
---|
| 699 | |
---|
| 700 | % write wrl file |
---|
| 701 | WrlFacestHroiReduce(Position3DFitedPPCP,PositionTex,SupOri, [ Default.filename{1} '1st'],[ Default.filename{1} '1st'], ... |
---|
| 702 | Default.OutPutFolder, GridFlag, 0); |
---|
| 703 | system(['gzip -9 -c ' Default.OutPutFolder Default.filename{1} '1st.wrl > ' ... |
---|
| 704 | Default.OutPutFolder Default.filename{1} '1st.wrl.gz']); |
---|
| 705 | copyfile([ Default.OutPutFolder Default.filename{1} '1st.wrl.gz '], ... |
---|
| 706 | [ Default.OutPutFolder Default.filename{1} '1st.wrl'],'f'); |
---|
| 707 | delete([Default.OutPutFolder Default.filename{1} '1st.wrl.gz']); |
---|
| 708 | end |
---|
| 709 | %==================Finished for one step MRF================================================================================================== |
---|
| 710 | |
---|
| 711 | if NoSecondStep |
---|
| 712 | return; |
---|
| 713 | end |
---|
| 714 | |
---|
| 715 | % ====================================following are 2nd step MRF to give more visually pleasing result======================================= |
---|
| 716 | % generating new PosiMPPCP using the new position |
---|
| 717 | normPara = norms(PlanePara); |
---|
| 718 | normalizedPara = PlanePara ./ repmat( normPara, [3 1]); |
---|
| 719 | groundPara = abs(normalizedPara(2,:)) >= groundThreshold(YPosition); |
---|
| 720 | groundParaInd = find(groundPara); |
---|
| 721 | verticalPara = abs(normalizedPara(2,:)) <= verticalThreshold(YPosition); % change to have different range of vertical thre ================ |
---|
| 722 | verticalParaInd = find(verticalPara); |
---|
| 723 | |
---|
| 724 | indexVertical = find( verticalPara)*3-1; |
---|
| 725 | indexGroundX = find( groundPara)*3-2; |
---|
| 726 | indexGroundZ = find( groundPara)*3; |
---|
| 727 | |
---|
| 728 | PosiMPPCP = sparse(0,0); |
---|
| 729 | VarM2 = sparse(0,0); |
---|
| 730 | |
---|
| 731 | % forming new supporting matrix using new depth and get rid of the support of the vertical plane |
---|
| 732 | for i = NuSup |
---|
| 733 | mask = Sup == i; |
---|
| 734 | if any(verticalParaInd == Sup2Para(i)) & FlagRemoveVerticalSupport % Remove Vertical Depths Supports |
---|
| 735 | mask = logical(zeros(size(Sup))); |
---|
| 736 | end |
---|
| 737 | PosiMPPCP = blkdiag(PosiMPPCP, Position3DFitedPPCP(:,mask)'); |
---|
| 738 | VarM2 = [VarM2; VarMap(mask)]; |
---|
| 739 | if length( find(isnan(PosiMPPCP)) ) |
---|
| 740 | disp('PosiMPPCP is NaN'); |
---|
| 741 | end |
---|
| 742 | end |
---|
| 743 | |
---|
| 744 | % Start Decompose image ========================= |
---|
| 745 | TotalRectX = 2*XNuDecompose-1; |
---|
| 746 | TotalRectY = 2*YNuDecompose-1; |
---|
| 747 | PlanePara = NaN*ones(3*NuSupSize,1); % setup the lookuptable for the solved plane parameter |
---|
| 748 | |
---|
| 749 | for k = 0:(TotalRectX-1) |
---|
| 750 | l = rem(k*2,(TotalRectX)); |
---|
| 751 | RangeX = (1+ceil(Default.HoriXNuDepth/XNuDecompose)*l/2):... |
---|
| 752 | min((1+ceil(Default.HoriXNuDepth/XNuDecompose)*(l/2+1)),Default.HoriXNuDepth); |
---|
| 753 | RangeX = ceil(RangeX); |
---|
| 754 | for q = 0:(TotalRectY-1) |
---|
| 755 | l = rem(q*2,(TotalRectY)); |
---|
| 756 | RangeY = (1+ceil(Default.VertYNuDepth/YNuDecompose)*l/2):... |
---|
| 757 | min((1+ceil(Default.VertYNuDepth/YNuDecompose)*(l/2+1)),Default.VertYNuDepth); |
---|
| 758 | RangeY = ceil(RangeY); |
---|
| 759 | mask = zeros(size(Sup)); |
---|
| 760 | mask(RangeY,RangeX) = 1; |
---|
| 761 | mask =logical(mask); |
---|
| 762 | SubSup = sort(setdiff( unique( reshape( Sup(RangeY,RangeX),1,[])),0)); |
---|
| 763 | BoundarySup = []; |
---|
| 764 | BoundarySup = find(sum(SupNeighborTable(SubSup,:), 1) ~=0); |
---|
| 765 | BoundarySup = unique(setdiff(BoundarySup,[0 SubSup] )); |
---|
| 766 | |
---|
| 767 | % chech if BoundarySup non-NaN in PlanePara |
---|
| 768 | checkNoNNaN = ~isnan(PlanePara(Sup2Para(BoundarySup)*3)); |
---|
| 769 | BoundarySup = BoundarySup(checkNoNNaN); |
---|
| 770 | TotalSup = sort([SubSup BoundarySup]); |
---|
| 771 | |
---|
| 772 | SubSupPtr = [ Sup2Para(SubSup)*3-2;... |
---|
| 773 | Sup2Para(SubSup)*3-1;... |
---|
| 774 | Sup2Para(SubSup)*3]; |
---|
| 775 | SubSupPtr = SubSupPtr(:); |
---|
| 776 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 777 | Sup2Para(BoundarySup)*3-1;... |
---|
| 778 | Sup2Para(BoundarySup)*3]; |
---|
| 779 | BoundarySupPtr =BoundarySupPtr(:); |
---|
| 780 | NuSubSupSize = size(SubSup,2); |
---|
| 781 | SubSup2Para = sparse(1,max(SubSup)); |
---|
| 782 | SubSup2Para(SubSup) = 1:NuSubSupSize; |
---|
| 783 | |
---|
| 784 | % clearn RayAllM PosiM CoPM1 HoriStickM_i VertStickM_i |
---|
| 785 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 786 | tar = sum(NewRayAllM ~= 0,2) ==3; |
---|
| 787 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 788 | |
---|
| 789 | NewPosiMPPCP = PosiMPPCP(:,SubSupPtr); |
---|
| 790 | tar = sum(NewPosiMPPCP ~= 0,2) ==3; |
---|
| 791 | NewPosiMPPCP = NewPosiMPPCP(tar,:); |
---|
| 792 | NewVarM = VarM2(tar); |
---|
| 793 | |
---|
| 794 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 795 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 796 | tar = sum( NewCoPM ~= 0,2) + sum( NewCoPMBound ~= 0,2) ==6; |
---|
| 797 | NewCoPM = NewCoPM(tar,:); |
---|
| 798 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 799 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 800 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 801 | |
---|
| 802 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 803 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 804 | tar = sum(NewHoriStickM ~= 0,2) + sum( NewHoriStickMBound ~= 0,2)==6; |
---|
| 805 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 806 | NewHoriStickMBound = NewHoriStickMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 807 | NewHoriStickMBound = NewHoriStickMBound(tar); |
---|
| 808 | NewEstDepHoriStick = EstDepHoriStick(tar); |
---|
| 809 | NewWeightHoriNeighborStitch = WeightHoriNeighborStitch(tar); |
---|
| 810 | |
---|
| 811 | NewVertStickM = VertStickM_i(:,SubSupPtr)-VertStickM_j(:,SubSupPtr); |
---|
| 812 | NewVertStickMBound = VertStickM_i(:, BoundarySupPtr)-VertStickM_j(:,BoundarySupPtr); |
---|
| 813 | tar = sum(NewVertStickM ~= 0,2) + sum(NewVertStickMBound ~= 0,2)==6; |
---|
| 814 | NewVertStickM = NewVertStickM(tar,:); |
---|
| 815 | NewVertStickMBound = NewVertStickMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 816 | NewVertStickMBound = NewVertStickMBound(tar); |
---|
| 817 | NewEstDepVertStick = EstDepVertStick(tar); |
---|
| 818 | NewWeightVertNeighborStitch = WeightVertNeighborStitch(tar); |
---|
| 819 | |
---|
| 820 | % try reduce the vertical constrain |
---|
| 821 | NonVertPtr = setdiff( 1:(3*NuSubSupSize), SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))*3-1 ); |
---|
| 822 | YNoComingBack = YPointer(Sup2Para(SubSup)); |
---|
| 823 | YNoComingBack(SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))) = []; |
---|
| 824 | YCompMask = zeros(1,3*NuSubSupSize); |
---|
| 825 | YCompMask(3*(1:NuSubSupSize)-1) = 1; |
---|
| 826 | YCompMask = YCompMask(NonVertPtr); |
---|
| 827 | XCompMask = zeros(1,3*NuSubSupSize); |
---|
| 828 | XCompMask( SubSup2Para( NuSup( (intersect( indexGroundX,SubSupPtr ) +2)/3))*3-2 ) = 1; |
---|
| 829 | XCompMask = XCompMask(NonVertPtr); |
---|
| 830 | ZCompMask = zeros(1,3*NuSubSupSize); |
---|
| 831 | ZCompMask( SubSup2Para( NuSup( (intersect( indexGroundZ,SubSupPtr ) )/3))*3 ) = 1; |
---|
| 832 | ZCompMask = ZCompMask(NonVertPtr); |
---|
| 833 | GroundMask = intersect( find(groundPara), ( SubSupPtr( 3:3:( size(SubSupPtr,1)) )/3 ) ) ; |
---|
| 834 | |
---|
| 835 | % version written by Ashutosh |
---|
| 836 | |
---|
| 837 | tempGroundX = sparse(1:length(XCompMask), 1:length(XCompMask), XCompMask); |
---|
| 838 | tempGroundX( logical(XCompMask) ) = tempGroundX( logical(XCompMask) )./normPara( GroundMask ); |
---|
| 839 | tempGroundX( sum(tempGroundX,2) == 0,:) = []; |
---|
| 840 | tempGroundZ = sparse(1:length(ZCompMask), 1:length(ZCompMask), ZCompMask ); |
---|
| 841 | tempGroundZ( logical(ZCompMask) ) = tempGroundZ( logical(ZCompMask) )./normPara( GroundMask ); |
---|
| 842 | tempGroundZ( sum(tempGroundZ,2) == 0,:)= []; |
---|
| 843 | |
---|
| 844 | A = [ sparse(1:length(NewVarM),1:length(NewVarM),1./exp(abs(NewVarM)/BandWith)) * NewPosiMPPCP(:, NonVertPtr);... |
---|
| 845 | sparse(1:length(NewCoPEstDepth), 1:length(NewCoPEstDepth), NewCoPEstDepth * Center) * NewCoPM(:, NonVertPtr);... |
---|
| 846 | sparse(1:length(NewEstDepHoriStick), 1:length(NewEstDepHoriStick), NewEstDepHoriStick.*NewWeightHoriNeighborStitch) * NewHoriStickM(:, NonVertPtr);... |
---|
| 847 | sparse(1:length(NewEstDepVertStick), 1:length(NewEstDepVertStick), NewEstDepVertStick.*NewWeightVertNeighborStitch) * NewVertStickM(:, NonVertPtr);... |
---|
| 848 | tempGroundX;... |
---|
| 849 | tempGroundZ... |
---|
| 850 | ]; |
---|
| 851 | % +10*norm( ( Para( logical(XCompMask) ))./... |
---|
| 852 | % normPara( GroundMask )', 1)... |
---|
| 853 | % +10*norm( ( Para( logical(ZCompMask)))./... |
---|
| 854 | % normPara( GroundMask )', 1) ... |
---|
| 855 | |
---|
| 856 | b = [ 1./exp(abs(NewVarM)/BandWith); ... |
---|
| 857 | -Center*NewCoPMBound.*NewCoPEstDepth; ... |
---|
| 858 | -NewHoriStickMBound.*NewEstDepHoriStick.*NewWeightHoriNeighborStitch;... |
---|
| 859 | -NewVertStickMBound.*NewEstDepVertStick.*NewWeightVertNeighborStitch;... |
---|
| 860 | sparse(size(tempGroundX,1),1);... |
---|
| 861 | sparse(size(tempGroundZ,1),1)... |
---|
| 862 | ]; |
---|
| 863 | |
---|
| 864 | temp = YCompMask; |
---|
| 865 | temp(logical(YCompMask)) = YNoComingBack; |
---|
| 866 | temp = sparse(1:length(temp), 1:length(temp), temp); |
---|
| 867 | temp( sum(temp,2) ==0,:) = []; |
---|
| 868 | S = [ temp;... |
---|
| 869 | NewRayAllM(:,NonVertPtr);... |
---|
| 870 | -NewRayAllM(:,NonVertPtr);... |
---|
| 871 | ]; |
---|
| 872 | inq = [ sparse(size(temp,1), 1);... |
---|
| 873 | - 1/ClosestDist*ones(size(NewRayAllM,1),1);... |
---|
| 874 | 1/FarestDist*ones(size(NewRayAllM,1),1);... |
---|
| 875 | ]; |
---|
| 876 | |
---|
| 877 | Para.ClosestDist = ClosestDist; |
---|
| 878 | Para.FarestDist = FarestDist; |
---|
| 879 | |
---|
| 880 | % build up ptry and ptrz adapt fot NonVertPtr |
---|
| 881 | Para.ptry = zeros(size(NewRayAllM,2),1); |
---|
| 882 | Para.ptry(2:3:size(NewRayAllM,2)) = 1; |
---|
| 883 | Para.ptry = logical(Para.ptry(NonVertPtr)); |
---|
| 884 | Para.ptrz = zeros(size(NewRayAllM,2),1); |
---|
| 885 | Para.ptrz(3:3:size(NewRayAllM,2)) = 1; |
---|
| 886 | Para.ptrz = logical(Para.ptrz(NonVertPtr)); |
---|
| 887 | Para.Dist_Start = size(temp,1)+1; |
---|
| 888 | [x_ashIterator, alfa, status] = SigmoidLogBarrierSolver(Para, [], [], [], '', [], [], solverVerboseLevel); |
---|
| 889 | if any(S*x_ashIterator+inq > 0 ) |
---|
| 890 | disp('Inequality not satisfied'); |
---|
| 891 | max( S*x_ashIterator+inq) |
---|
| 892 | elseif status==2 |
---|
| 893 | fprintf([' Success with alfa=' num2str(alfa)]); |
---|
| 894 | end |
---|
| 895 | |
---|
| 896 | Para = x_ashIterator; |
---|
| 897 | |
---|
| 898 | tempPara = zeros(3*NuSubSupSize,1); |
---|
| 899 | tempPara(NonVertPtr) = Para; |
---|
| 900 | PlanePara(SubSupPtr) = tempPara; |
---|
| 901 | end |
---|
| 902 | end |
---|
| 903 | |
---|
| 904 | % porject the ray on planes to generate the FitDepth |
---|
| 905 | PlanePara = reshape(PlanePara,3,[]); |
---|
| 906 | FitDepth = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 907 | FitDepth(~maskSkyEroded) = (1./sum(PlanePara(:,Sup2Para(SupEpand(~maskSkyEroded))).*Ray(:,~maskSkyEroded),1))'; |
---|
| 908 | FitDepth = reshape(FitDepth,Default.VertYNuDepth,[]); |
---|
| 909 | % ==========Storage ============== |
---|
| 910 | if Default.Flag.AfterInferenceStorage |
---|
| 911 | save([ Default.ScratchFolder '/' strrep( Default.filename{1},'.jpg','') '_AInfnew.mat' ], 'FitDepth', 'depthMap', ... |
---|
| 912 | 'Sup', 'SupOri', 'RayOri','Ray','SupNeighborTable','maskSky','maskG','MultiScaleSupTable','WeiM','VarMapRaw'); |
---|
| 913 | end |
---|
| 914 | % =============================== |
---|
| 915 | [Position3DFited] = im_cr2w_cr(FitDepth,permute(Ray,[2 3 1])); |
---|
| 916 | Position3DFited(3,:) = -Position3DFited(3,:); |
---|
| 917 | Position3DFited = permute(Position3DFited,[2 3 1]); |
---|
| 918 | RR =permute(Ray,[2 3 1]); |
---|
| 919 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 920 | PositionTex = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),... |
---|
| 921 | [Default.VertYNuDepth Default.HoriXNuDepth 1])... |
---|
| 922 | +repmat(cat(3,Default.Ox_default,Default.Oy_default),... |
---|
| 923 | [Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
---|
| 924 | PositionTex = permute(PositionTex,[2 3 1]); |
---|
| 925 | |
---|
| 926 | % write wrl file |
---|
| 927 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : Writing WRL.']); |
---|
| 928 | WrlFacestHroiReduce(Position3DFited, PositionTex, SupOri, Default.filename{1}, Default.filename{1}, ... |
---|
| 929 | Default.OutPutFolder, GridFlag, 0); |
---|
| 930 | |
---|
| 931 | system(['gzip -9 -c ' Default.OutPutFolder Default.filename{1} '.wrl > ' ... |
---|
| 932 | Default.OutPutFolder Default.filename{1} '.wrl.gz']); |
---|
| 933 | copyfile([Default.OutPutFolder Default.filename{1} '.wrl.gz'], ... |
---|
| 934 | [Default.OutPutFolder Default.filename{1} '.wrl'],'f'); |
---|
| 935 | delete([Default.OutPutFolder Default.filename{1} '.wrl.gz']); |
---|
| 936 | |
---|
| 937 | return; |
---|