[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 [Position3DFited FitDepthPPCP] = ReportPlaneParaMRF_Conditioned_trianglate... |
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| 40 | (Default, Rotation, Translation, appendOpt, ... |
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| 41 | RayMatched, ClosestDepth, SupMatched, ... |
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| 42 | SampledGroundRayMatched, SampledGroundClosestDepth, SampledGroundSupMatched, ... |
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| 43 | DepthFolder,... |
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| 44 | Sup, SupOri, MedSup,depthMap,VarMap,RayOri, Ray, SupNeighborTable,... |
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| 45 | MedRay,maskSky,maskG,Algo,k, CornerList, OccluList,... |
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| 46 | MultiScaleSupTable, StraightLineTable, HBrokeBook, VBrokeBook,previoslyStored,... |
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| 47 | baseline, CoordinateFromRef, y0); |
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| 48 | % This function runs the RMF over the plane parameter of each superpixels |
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| 49 | |
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| 50 | if nargin <20 |
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| 51 | baseline = 0; |
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| 52 | end |
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| 53 | if isempty(CoordinateFromRef) |
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| 54 | CoordinateFromRef = eye(3); |
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| 55 | end |
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| 56 | solverVerboseLevel = 0; |
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| 57 | |
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| 58 | inferenceTime = tic; |
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| 59 | |
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| 60 | fprintf(['\n : Building Matrices.... ']); |
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| 61 | |
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| 62 | % initialize parameters |
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| 63 | GridFlag = 0; |
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| 64 | NOYALMIP = 1; |
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| 65 | NoSecondStep = 0; |
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| 66 | Dual = false; |
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| 67 | displayFlag = false; |
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| 68 | RenderVrmlFlag = true; |
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| 69 | PlaneParaSegmentationFlag = false; |
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| 70 | |
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| 71 | scale = 1; |
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| 72 | StickHori = 5; %0.1; % sticking power in horizontal direction |
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| 73 | StickVert = 10; % sticking power in vertical direction |
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| 74 | Center = 2; % Co-Planar weight at the Center of each superpixel |
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| 75 | TriangulatedWeight = 20; |
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| 76 | SampledGroundWeight = 10; |
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| 77 | GroundLevelWright = 500; |
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| 78 | HoriConf = 1; % set the confidant of the learned depth at the middle in Horizontal direction of the image |
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| 79 | VertConf = 0.01; % set the confidant of the learned depth at the top of the image |
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| 80 | BandWith = 1; % Nov29 1 Nov30 0.1 check result change to 0.1 12/1 0.1 lost detail |
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| 81 | mapVert = linspace(VertConf,1,Default.VertYNuDepth); % modeling the gravity prior |
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| 82 | mapHori = [linspace(HoriConf,1,round(Default.HoriXNuDepth/2)) fliplr(linspace(HoriConf,1,Default.HoriXNuDepth-round(Default.HoriXNuDepth/2)))]; |
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| 83 | |
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| 84 | % ========set the range of depth that our model in |
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| 85 | ClosestDist = 1; |
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| 86 | % set the FarestDist to very 5 times to median depth |
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| 87 | 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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| 88 | % ================================================ |
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| 89 | |
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| 90 | ceiling = 0*Default.VertYNuDepth; % set the position of the ceiling, related to No plane coming back constrain % changed for newchurch |
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| 91 | Name{1} = 'FraWOPri'; |
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| 92 | Name{2} = 'FraCoP'; |
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| 93 | if isempty(MultiScaleSupTable) |
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| 94 | Name{3} = 'Var_FraStickCoP'; |
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| 95 | else |
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| 96 | Name{3} = 'Var_FraStickCoPSTasCoP'; |
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| 97 | end |
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| 98 | if ~isempty(MultiScaleSupTable) |
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| 99 | MultiScaleFlag = true; |
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| 100 | WeiV = 2*ones(1,size(MultiScaleSupTable,2)-1); |
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| 101 | else |
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| 102 | MultiScaleFlag = false; |
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| 103 | WeiV = 1; |
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| 104 | end |
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| 105 | WeiV(1,1:2:end) = 6; % emphasize the middle scale three times smaller than large scale |
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| 106 | 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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| 107 | ShiftStick = -.1; % between -1 and 0, more means more smoothing. |
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| 108 | ShiftCoP = -.5; % between -1 and 0, more means more smoothing. |
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| 109 | gravity =true; % if true, apply the HoriConf and VertConf linear scale weight |
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| 110 | CoPST = true; % if true, apply the Straight line prior as the Co-Planar constrain |
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| 111 | |
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| 112 | %ConerImprove = false; |
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| 113 | %FractionalDepthError = true; |
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| 114 | |
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| 115 | |
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| 116 | % get rid of the error point and sky point in the depthMap |
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| 117 | % set every depth bigger than FarestDistmeter to FarestDistmeters |
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| 118 | %CleanedDepthMap = (depthMapif ~previoslyStored >80).*medfilt2(depthMap,[4 4])+(depthMap<=80).*depthMap; |
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| 119 | CleanedDepthMap = depthMap; |
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| 120 | %CleanedDepthMap(depthMap>FarestDist) = FarestDist; % don't clean the point >80 sometimes it occlusion |
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| 121 | %disp('Nu of depthMap>FarestDist'); |
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| 122 | %sum(sum(depthMap>FarestDist)) |
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| 123 | CleanedDepthMap(depthMap>FarestDist) = NaN; % don't clean the point >80 sometimes it occlusion |
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| 124 | Posi3D = im_cr2w_cr(CleanedDepthMap,permute(Ray,[2 3 1])); |
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| 125 | |
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| 126 | if ~previoslyStored |
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| 127 | |
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| 128 | %NewMap = [rand(max(Sup(:)),3); [0 0 0]]; |
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| 129 | |
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| 130 | % Clean the Sup near sky |
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| 131 | maskSky = Sup == 0; |
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| 132 | maskSkyEroded = imerode(maskSky, strel('disk', 4) ); |
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| 133 | SupEpand = ExpandSup2Sky(Sup,maskSkyEroded); |
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| 134 | NuPatch = Default.HoriXNuDepth*Default.VertYNuDepth-sum(maskSky(:)); |
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| 135 | |
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| 136 | NuSup = setdiff(unique(Sup)',0); |
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| 137 | NuSup = sort(NuSup); |
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| 138 | NuSupSize = size(NuSup,2); |
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| 139 | |
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| 140 | % Sup index and planeParameter index inverse map |
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| 141 | Sup2Para = sparse(1,max(Sup(:))); |
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| 142 | Sup2Para(NuSup) = 1:NuSupSize; |
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| 143 | |
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| 144 | % constructinf the Straight line prior matrix Will be add in the CoPlane matrix |
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| 145 | NuLine = size(StraightLineTable,2); |
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| 146 | CoPSTList = []; |
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| 147 | |
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| 148 | for i = 1:NuLine |
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| 149 | L = StraightLineTable{i}; |
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| 150 | X = L(1:(end-1))'; |
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| 151 | Y = L(2:end)'; |
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| 152 | if isempty(X) |
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| 153 | continue; |
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| 154 | end |
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| 155 | for j = 1:size(X,1) |
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| 156 | if X(j)~=Y(j) |
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| 157 | CoPSTList = [CoPSTList; X(j) Y(j)]; |
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| 158 | end |
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| 159 | end |
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| 160 | end |
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| 161 | end |
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| 162 | |
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| 163 | % Generate the Matrix for MRF |
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| 164 | % =========================================================================================================================================== |
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| 165 | groundThreshold = cos([ zeros(1, Default.VertYNuDepth - ceil(Default.VertYNuDepth/2)+10) ... |
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| 166 | linspace(0,15,ceil(Default.VertYNuDepth/2)-10)]*pi/180); |
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| 167 | % v1 15 v2 20 too big v3 20 to ensure non misclassified as ground. |
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| 168 | % verticalThreshold = cos(linspace(5,55,Default.VertYNuDepth)*pi/180); % give a vector of size 55 in top to down : |
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| 169 | verticalThreshold = cos([ 5*ones(1,Default.VertYNuDepth - ceil(Default.VertYNuDepth/2)) ... |
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| 170 | linspace(5,55,ceil(Default.VertYNuDepth/2))]*pi/180); |
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| 171 | % give a vector of size 55 in top to down : |
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| 172 | % 50 means suface norm away from y axis more than 50 degree |
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| 173 | % =========================================================================================================================================== |
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| 174 | |
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| 175 | PosiM = sparse(0,0); |
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| 176 | VarM = sparse(0,0); |
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| 177 | RayMd = sparse(0,0); |
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| 178 | RayAllOriM = sparse(0,0); |
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| 179 | RayAllM = sparse(0,0); |
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| 180 | RayMtilt = sparse(0,0); |
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| 181 | RayMCent = sparse(0,0); |
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| 182 | DepthInverseMCent = []; |
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| 183 | DepthInverseM = []; |
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| 184 | YPointer = []; |
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| 185 | YPosition = []; |
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| 186 | beta = []; |
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| 187 | EmptyIndex = []; |
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| 188 | |
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| 189 | for i = NuSup |
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| 190 | % mask = Sup ==i; |
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| 191 | mask = SupEpand ==i; % include the Ray that will be use to expand the NonSky |
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| 192 | RayAllOriM = blkdiag( RayAllOriM, RayOri(:,mask)'); |
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| 193 | RayAllM = blkdiag( RayAllM, Ray(:,mask)'); |
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| 194 | mask = Sup ==i; % Not include the Ray that will be use to expand the NonSky |
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| 195 | [yt x] = find(mask); |
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| 196 | CenterX = round(median(x)); |
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| 197 | CenterY = round(median(yt)); |
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| 198 | YPointer = [YPointer; CenterY >= ceiling]; % Y is zero in the top ceiling default to be 0 as the top row in the image |
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| 199 | YPosition = [YPosition; CenterY]; |
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| 200 | mask(isnan(CleanedDepthMap)) = false; |
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| 201 | SupNuPatch(i) = sum(mask(:)); |
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| 202 | % if sum(mask(:)) < 5 |
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| 203 | % EmptyIndex = [EmptyIndex; i]; |
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| 204 | % mask(:) = false; |
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| 205 | % end |
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| 206 | % find center point |
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| 207 | [yt x] = find(mask); |
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| 208 | CenterX = round(median(x)); |
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| 209 | CenterY = round(median(yt)); |
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| 210 | |
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| 211 | if ~all(mask(:)==0) |
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| 212 | if gravity |
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| 213 | if any(CleanedDepthMap(mask) <=0) |
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| 214 | CleanedDepthMap(mask) |
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| 215 | % pause |
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| 216 | end |
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| 217 | Pa2CenterRatio = median(CleanedDepthMap(mask))./CleanedDepthMap(mask); |
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| 218 | if sum(mask(:)) > 0 |
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| 219 | RayMtilt = blkdiag(RayMtilt, ... |
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| 220 | ( Pa2CenterRatio(:,[1 1 1]).*repmat(RayOri(:,CenterY,CenterX)',[ SupNuPatch(i) 1])- RayOri(:,mask)')); |
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| 221 | else |
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| 222 | RayMtilt = blkdiag(RayMtilt, RayOri(:,mask)'); |
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| 223 | end |
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| 224 | RayMCent = blkdiag(RayMCent, RayOri(:,CenterY,CenterX)'*SupNuPatch(i)*mapVert(CenterY)*mapHori(CenterX)); |
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| 225 | PosiM = blkdiag(PosiM,Posi3D(:,mask)');%.*repmat( mapVert(yt)',[1 3]).*repmat( mapHori(x)',[1 3])); |
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| 226 | VarM = [VarM; VarMap(mask).*(mapVert(yt)').*( mapHori(x)')]; |
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| 227 | RayMd = blkdiag(RayMd,RayOri(:,mask)'.*repmat( mapVert(yt)',[1 3]).*repmat( mapHori(x)',[1 3])); |
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| 228 | DepthInverseMCent = [DepthInverseMCent; 1./median(CleanedDepthMap(mask)).*SupNuPatch(i)* mapVert(CenterY)'*mapHori(CenterX)]; |
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| 229 | DepthInverseM = [DepthInverseM; 1./CleanedDepthMap(mask).* mapVert(yt)'.*mapHori(x)']; |
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| 230 | else |
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| 231 | Pa2CenterRatio = CleanedDepthMap(CenterY,CenterX)./CleanedDepthMap(mask); |
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| 232 | if sum(mask(:)) > 0 |
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| 233 | RayMtilt = blkdiag(RayMtilt, ... |
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| 234 | ( Pa2CenterRatio(:,[1 1 1]).*repmat(RayOri(:,CenterY,CenterX)',[ SupNuPatch(i) 1])- RayOri(:,mask)')); |
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| 235 | else |
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| 236 | RayMtilt = blkdiag(RayMtilt, RayOri(:,mask)'); |
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| 237 | end |
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| 238 | RayMCent = blkdiag(RayMCent, RayOri(:,CenterY,CenterX)'*SupNuPatch(i)); |
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| 239 | PosiM = blkdiag(PosiM,Posi3D(:,mask)'); |
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| 240 | VarM = [VarM; VarMap(mask)]; |
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| 241 | RayMd = blkdiag(RayMd,RayOri(:,mask)'); |
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| 242 | DepthInverseMCent = [DepthInverseMCent; 1./median(CleanedDepthMap(mask)).*SupNuPatch(i)]; |
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| 243 | DepthInverseM = [DepthInverseM; 1./CleanedDepthMap(mask)]; |
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| 244 | end |
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| 245 | else |
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| 246 | RayMtilt = blkdiag(RayMtilt, RayOri(:,mask)'); |
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| 247 | RayMCent = blkdiag(RayMCent, RayOri(:,mask)'); |
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| 248 | PosiM = blkdiag(PosiM, Posi3D(:,mask)'); |
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| 249 | VarM = [VarM; VarMap(mask)]; |
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| 250 | RayMd = blkdiag(RayMd, RayOri(:,mask)'); |
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| 251 | end |
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| 252 | end |
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| 253 | YPointer(YPointer==0) = -1; |
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| 254 | |
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| 255 | % =================Building up the triangulated and sampled ground constrain ======================================== |
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| 256 | PosiTriangulatedM = sparse( 0, 3*NuSupSize); |
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| 257 | count = 1; |
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| 258 | for i = SupMatched' |
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| 259 | temp = sparse(1, 3*NuSupSize); |
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| 260 | if Sup2Para(i)*3>3*NuSupSize || Sup2Para(i)*3-2<0 |
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| 261 | Sup2Para(i) |
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| 262 | NuSupSize |
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| 263 | end |
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| 264 | temp( (Sup2Para(i)*3-2):(Sup2Para(i)*3) ) = RayMatched(count,:)*ClosestDepth(count); |
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| 265 | PosiTriangulatedM = [PosiTriangulatedM; temp]; |
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| 266 | count = count + 1; |
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| 267 | end |
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| 268 | PosiSampledGroundM = sparse( 0, 3*NuSupSize); |
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| 269 | count = 1; |
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| 270 | for i = SampledGroundSupMatched' |
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| 271 | temp = sparse(1, 3*NuSupSize); |
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| 272 | if (Sup2Para(i)*3)>(3*NuSupSize) || (Sup2Para(i)*3-2)<0 |
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| 273 | Sup2Para(i) |
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| 274 | NuSupSize |
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| 275 | end |
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| 276 | temp( (Sup2Para(i)*3-2):(Sup2Para(i)*3) ) = SampledGroundRayMatched(count,:)*SampledGroundClosestDepth(count); |
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| 277 | PosiSampledGroundM = [PosiSampledGroundM; temp]; |
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| 278 | count = count + 1; |
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| 279 | end |
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| 280 | |
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| 281 | % ================================================================================================ |
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| 282 | |
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| 283 | % buliding CoPlane Matrix========================================================================= |
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| 284 | |
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| 285 | NuSTList = 0; |
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| 286 | if CoPST |
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| 287 | NuSTList = size(CoPSTList,1); |
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| 288 | if ~isempty(CoPSTList) |
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| 289 | [V H] = size(SupNeighborTable); |
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| 290 | SupNeighborTable( CoPSTList(:,1)*V + CoPSTList(:,2)) = 1; |
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| 291 | SupNeighborTable( CoPSTList(:,2)*V + CoPSTList(:,1)) = 1; |
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| 292 | % ClosestNList = [ClosestNList; CoPSTList]; |
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| 293 | end |
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| 294 | end |
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| 295 | CoPM1 = sparse(0,3*NuSupSize); |
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| 296 | CoPM2 = sparse(0,3*NuSupSize); |
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| 297 | CoPEstDepth = sparse(0,0); |
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| 298 | CoPNorM = []; |
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| 299 | WeiCoP = []; |
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| 300 | |
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| 301 | for i = NuSup |
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| 302 | Neighbor = find( SupNeighborTable(i,:) ~=0); |
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| 303 | Neighbor = Neighbor( Neighbor> i); |
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| 304 | for j = Neighbor |
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| 305 | % if ~CornerList(i) |
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| 306 | mask = Sup == i; |
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| 307 | SizeMaskAll = sum(mask(:)); |
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| 308 | [y x] = find(mask); |
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| 309 | CenterX = round(median(x)); |
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| 310 | CenterY = round(median(y)); |
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| 311 | y = find(mask(:,CenterX)); |
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| 312 | if ~isempty(y) |
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| 313 | CenterY = round(median(y)); |
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| 314 | end |
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| 315 | |
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| 316 | temp1 = sparse(1, 3*NuSupSize); |
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| 317 | temp2 = sparse(1, 3*NuSupSize); |
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| 318 | temp1(:,(Sup2Para( i)*3-2): Sup2Para( i)*3) = ... |
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| 319 | Ray(:,CenterY,CenterX)'; |
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| 320 | temp2(:,(Sup2Para( j)*3-2): Sup2Para( j)*3) = ... |
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| 321 | Ray(:,CenterY,CenterX)'; |
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| 322 | %NuNei-NuSTList |
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| 323 | |
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| 324 | % if i < NuNei-NuSTList % only immediate connecting superpixels are weighted using MultiScaleSup |
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| 325 | % wei = WeiV*10;%*(MultiScaleSupTable(Sup2Para(ClosestNList(i,1)),2:end) == MultiScaleSupTable(Sup2Para(ClosestNList(i,2)),2:end))'; |
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| 326 | if MultiScaleFlag |
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| 327 | vector = (MultiScaleSupTable(Sup2Para( i),2:end) == MultiScaleSupTable(Sup2Para( j),2:end)); |
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| 328 | expV = exp(-10*(WeiV*vector' + ShiftCoP) ); |
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| 329 | wei = 1/(1+expV); |
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| 330 | else |
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| 331 | wei = 1; |
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| 332 | end |
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| 333 | % else |
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| 334 | % wei = 1; |
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| 335 | % end |
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| 336 | oneRay1 = temp1*wei; |
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| 337 | oneRay2 = temp2*wei; |
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| 338 | %CoPM1 = [CoPM1; temp1*wei]; |
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| 339 | %CoPM2 = [CoPM2; temp2*wei]; |
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| 340 | |
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| 341 | |
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| 342 | tempWeiCoP = [SizeMaskAll]; |
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| 343 | CoPEstDepth = [CoPEstDepth; max(median(CleanedDepthMap(mask)),ClosestDist)]; |
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| 344 | |
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| 345 | mask = Sup == j; |
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| 346 | SizeMaskAll = sum(mask(:)); |
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| 347 | [y x] = find(mask); |
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| 348 | CenterX = round(median(x)); |
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| 349 | CenterY = round(median(y)); |
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| 350 | y = find(mask(:,CenterX)); |
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| 351 | if ~isempty(y) |
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| 352 | CenterY = round(median(y)); |
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| 353 | end |
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| 354 | |
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| 355 | temp1 = sparse(1, 3*NuSupSize); |
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| 356 | temp2 = sparse(1, 3*NuSupSize); |
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| 357 | temp1(:,(Sup2Para( i)*3-2): Sup2Para( i)*3) = ... |
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| 358 | Ray(:,CenterY,CenterX)'; |
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| 359 | temp2(:,(Sup2Para( j)*3-2): Sup2Para( j)*3) = ... |
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| 360 | Ray(:,CenterY,CenterX)'; |
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| 361 | |
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| 362 | % Instead of having separate L-1 terms for symmetric co-planar constraint; do the following: |
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| 363 | % If the penaly was ||.||_2^2 + ||.||_2^2; then the co-efficients are |
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| 364 | % some kind of average of two rays. For one norm; we take its average. |
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| 365 | % (do not divide by 2 because the penalty should be double. |
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| 366 | |
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| 367 | CoPM1 = [CoPM1; temp1*wei + oneRay1 ]; |
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| 368 | CoPM2 = [CoPM2; temp2*wei + oneRay2 ]; |
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| 369 | |
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| 370 | tempWeiCoP = [tempWeiCoP; SizeMaskAll]; |
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| 371 | WeiCoP = [WeiCoP; tempWeiCoP]; |
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| 372 | CoPEstDepth = [CoPEstDepth; max(median(CleanedDepthMap(mask)),ClosestDist)]; |
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| 373 | end |
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| 374 | end%========================================================================================================= |
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| 375 | |
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| 376 | %== find the boundary point that might need to be stick ot each other========================================== |
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| 377 | HoriStickM_i = sparse(0,3*NuSupSize); |
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| 378 | HoriStickM_j = sparse(0,3*NuSupSize); |
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| 379 | HoriStickPointInd = []; |
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| 380 | EstDepHoriStick = []; |
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| 381 | |
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| 382 | MAX_POINTS_STITCH_HORI = 2; % the actual code will be modified in another copy of the file |
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| 383 | MIN_POINTS_STITCH = 2; % ERROR: not used. |
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| 384 | |
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| 385 | % ================================================================ |
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| 386 | % NOTE: The actual algorithm should be picking precisely 2 points which are |
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| 387 | % FARTHEST away from the candidate set of neighbors. This algorithm |
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| 388 | % will ALWAYS work and produce no surprising results. |
---|
| 389 | |
---|
| 390 | % In some cases, one may experiment with picking only 1 point when the 2 |
---|
| 391 | % points are too close ---- this will make the algorithm faster; but might |
---|
| 392 | % produce surprising (e.g. a triangle sticking out) sometimes. |
---|
| 393 | % An ideal algorithm will reduce the number of points by checking for loops |
---|
| 394 | % passing through 3 or less superpixels through this matrix; and removing |
---|
| 395 | % them such that the smallest loop passes through 4 superpixels. (see EE263 |
---|
| 396 | % for a quick algorithm to do this -- involves product of matrices. |
---|
| 397 | % ================================================================== |
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| 398 | |
---|
| 399 | DIST_STICHING_THRESHOLD_HORI = 0.4; |
---|
| 400 | DIST_STICHING_THRESHOLD_HORI_ONLYCOL = -0.5; % effectively not used, |
---|
| 401 | |
---|
| 402 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 403 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 404 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 405 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 406 | addedIndexList = [ ]; |
---|
| 407 | |
---|
| 408 | BounaryPHori = conv2(Sup,[1 -1],'same') ~=0; |
---|
| 409 | BounaryPHori(:,end) = 0; |
---|
| 410 | BounaryPVert = conv2(Sup,[1; -1],'same') ~=0; |
---|
| 411 | BounaryPVert(end,:) = 0; |
---|
| 412 | boundariesHoriIndex = find(BounaryPHori==1)'; |
---|
| 413 | for i = boundariesHoriIndex |
---|
| 414 | j = i+Default.VertYNuDepth; |
---|
| 415 | if Sup(i) == 0 || Sup(j) == 0 |
---|
| 416 | continue; |
---|
| 417 | end |
---|
| 418 | SupPixelParsedList(Sup(i),Sup(j)) = SupPixelParsedList(Sup(i),Sup(j)) + 1; |
---|
| 419 | |
---|
| 420 | if SupPixelNeighborList(Sup(i),Sup(j)) == 0 |
---|
| 421 | recordAdded1(Sup(i),Sup(j)) = i; |
---|
| 422 | elseif SupPixelNeighborList(Sup(i),Sup(j)) >= MAX_POINTS_STITCH_HORI |
---|
| 423 | continue; |
---|
| 424 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 1 % inside this remove the close stiching terms |
---|
| 425 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 426 | rowN_older = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 427 | colN_older = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 428 | if abs(rowN - rowN_older) + (55/305)*abs(colN - colN_older) > DIST_STICHING_THRESHOLD_HORI && ... |
---|
| 429 | abs(colN - colN_older) > DIST_STICHING_THRESHOLD_HORI_ONLYCOL |
---|
| 430 | recordAdded2(Sup(i),Sup(j)) = i; |
---|
| 431 | else |
---|
| 432 | continue; |
---|
| 433 | end |
---|
| 434 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 2 %Assuming MAX_POINTS_STITCH = 3 |
---|
| 435 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 436 | rowN_older1 = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 437 | colN_older1 = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 438 | rowN_older2 = ceil( recordAdded2(Sup(i),Sup(j)) / 55); |
---|
| 439 | colN_older2 = rem( recordAdded2(Sup(i),Sup(j)), 55); |
---|
| 440 | |
---|
| 441 | if abs(rowN - rowN_older1) + (55/305)*abs(colN - colN_older1) > DIST_STICHING_THRESHOLD_HORI && ... |
---|
| 442 | abs(rowN - rowN_older2) + (55/305)*abs(colN - colN_older2) > DIST_STICHING_THRESHOLD_HORI |
---|
| 443 | ; |
---|
| 444 | else |
---|
| 445 | continue; |
---|
| 446 | end |
---|
| 447 | end |
---|
| 448 | |
---|
| 449 | % If you come here, it means you are probably adding it. |
---|
| 450 | SupPixelNeighborList(Sup(i),Sup(j)) = SupPixelNeighborList(Sup(i),Sup(j)) + 1; |
---|
| 451 | addedIndexList = [addedIndexList i]; |
---|
| 452 | end |
---|
| 453 | |
---|
| 454 | |
---|
| 455 | WeightHoriNeighborStitch = [ ]; |
---|
| 456 | |
---|
| 457 | for i = addedIndexList |
---|
| 458 | j = i+Default.VertYNuDepth; |
---|
| 459 | |
---|
| 460 | WeightHoriNeighborStitch = [WeightHoriNeighborStitch; SupPixelParsedList(Sup(i),Sup(j)) / ... |
---|
| 461 | SupPixelNeighborList(Sup(i),Sup(j)) ]; |
---|
| 462 | |
---|
| 463 | Target(1) = Sup2Para(Sup(i)); |
---|
| 464 | Target(2) = Sup2Para(Sup(j)); |
---|
| 465 | rayBoundary(:,1) = Ray(:,i); |
---|
| 466 | rayBoundary(:,2) = Ray(:,i); |
---|
| 467 | % betaTemp = StickHori;%*(DistStickLengthNormWei.^2)*beta(Target(I)); |
---|
| 468 | % betaTemp = StickHori*WeiV;%*(MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end))';%*(DistStickLengthNormWei.^2)*beta(Target(I)); |
---|
| 469 | if MultiScaleFlag |
---|
| 470 | vector = (MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end)); |
---|
| 471 | expV = exp(-10*(WeiV*vector' + ShiftStick) ); |
---|
| 472 | betaTemp = StickHori*(0.5+1/(1+expV)); %*(DistStickLengthNormWei.^2)*beta(Target(I)); |
---|
| 473 | % therr should always be sticking (know don't care about occlusion) |
---|
| 474 | else |
---|
| 475 | betaTemp = StickHori; |
---|
| 476 | end |
---|
| 477 | temp = sparse(3,NuSupSize); |
---|
| 478 | temp(:,Target(1)) = rayBoundary(:,1); |
---|
| 479 | HoriStickM_i = [HoriStickM_i; betaTemp*temp(:)']; |
---|
| 480 | temp = sparse(3,NuSupSize); |
---|
| 481 | temp(:,Target(2)) = rayBoundary(:,2); |
---|
| 482 | HoriStickM_j = [HoriStickM_j; betaTemp*temp(:)']; |
---|
| 483 | EstDepHoriStick = [EstDepHoriStick; sqrt(max(CleanedDepthMap(i),ClosestDist)*max(CleanedDepthMap(j),ClosestDist))]; |
---|
| 484 | HoriStickPointInd = [HoriStickPointInd i ]; |
---|
| 485 | |
---|
| 486 | end |
---|
| 487 | % ============================================== |
---|
| 488 | |
---|
| 489 | |
---|
| 490 | |
---|
| 491 | % ======== finding the unucessary stiching points in Vertical direction ==== |
---|
| 492 | VertStickM_i = sparse(0,3*NuSupSize); |
---|
| 493 | VertStickM_j = sparse(0,3*NuSupSize); |
---|
| 494 | VertStickPointInd = []; |
---|
| 495 | EstDepVertStick = []; |
---|
| 496 | |
---|
| 497 | MAX_POINTS_STITCH_VERT = 4; %3 |
---|
| 498 | DIST_STICHING_THRESHOLD_VERT = 0.1; %0.3 |
---|
| 499 | 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. |
---|
| 500 | |
---|
| 501 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 502 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 503 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 504 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
---|
| 505 | addedIndexList = [ ]; |
---|
| 506 | |
---|
| 507 | for i = find(BounaryPVert==1)' |
---|
| 508 | j = i+1; |
---|
| 509 | if Sup(i) == 0 || Sup(j) == 0 |
---|
| 510 | continue; |
---|
| 511 | end |
---|
| 512 | SupPixelParsedList(Sup(i),Sup(j)) = SupPixelParsedList(Sup(i),Sup(j)) + 1; |
---|
| 513 | |
---|
| 514 | if SupPixelNeighborList(Sup(i),Sup(j)) == 0 |
---|
| 515 | recordAdded1(Sup(i),Sup(j)) = i; |
---|
| 516 | elseif SupPixelNeighborList(Sup(i),Sup(j)) >= MAX_POINTS_STITCH_VERT |
---|
| 517 | continue; |
---|
| 518 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 1 % inside this remove the close stiching terms |
---|
| 519 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 520 | rowN_older = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 521 | colN_older = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 522 | if abs(rowN - rowN_older) + (55/305)*abs(colN - colN_older) > DIST_STICHING_THRESHOLD_VERT && ... |
---|
| 523 | abs(colN - colN_older) > DIST_STICHING_THRESHOLD_VERT_ONLYCOL |
---|
| 524 | recordAdded2(Sup(i),Sup(j)) = i; |
---|
| 525 | else |
---|
| 526 | continue; |
---|
| 527 | end |
---|
| 528 | elseif SupPixelNeighborList(Sup(i),Sup(j)) == 2 %Assuming MAX_POINTS_STITCH = 3 |
---|
| 529 | rowN = ceil(i/55); colN = rem(i,55); |
---|
| 530 | rowN_older1 = ceil( recordAdded1(Sup(i),Sup(j)) / 55); |
---|
| 531 | colN_older1 = rem( recordAdded1(Sup(i),Sup(j)), 55); |
---|
| 532 | rowN_older2 = ceil( recordAdded2(Sup(i),Sup(j)) / 55); |
---|
| 533 | colN_older2 = rem( recordAdded2(Sup(i),Sup(j)), 55); |
---|
| 534 | |
---|
| 535 | if abs(rowN - rowN_older1) + (55/305)*abs(colN - colN_older1) > DIST_STICHING_THRESHOLD_VERT && ... |
---|
| 536 | abs(rowN - rowN_older2) + (55/305)*abs(colN - colN_older2) > DIST_STICHING_THRESHOLD_VERT |
---|
| 537 | ; |
---|
| 538 | else |
---|
| 539 | continue; |
---|
| 540 | end |
---|
| 541 | end |
---|
| 542 | |
---|
| 543 | % If you come here, it means you are probably adding it. |
---|
| 544 | SupPixelNeighborList(Sup(i),Sup(j)) = SupPixelNeighborList(Sup(i),Sup(j)) + 1; |
---|
| 545 | addedIndexList = [addedIndexList i]; |
---|
| 546 | end |
---|
| 547 | |
---|
| 548 | |
---|
| 549 | WeightVertNeighborStitch = [ ]; |
---|
| 550 | |
---|
| 551 | for i = addedIndexList |
---|
| 552 | j = i+1; |
---|
| 553 | |
---|
| 554 | WeightVertNeighborStitch = [WeightVertNeighborStitch; SupPixelParsedList(Sup(i),Sup(j)) / ... |
---|
| 555 | SupPixelNeighborList(Sup(i),Sup(j)) ]; |
---|
| 556 | |
---|
| 557 | Target(1) = Sup2Para(Sup(i)); |
---|
| 558 | Target(2) = Sup2Para(Sup(j)); |
---|
| 559 | rayBoundary(:,1) = Ray(:,i); |
---|
| 560 | rayBoundary(:,2) = Ray(:,i); |
---|
| 561 | if MultiScaleFlag |
---|
| 562 | vector = (MultiScaleSupTable(Sup2Para(Sup(i)),2:end) == MultiScaleSupTable(Sup2Para(Sup(j)),2:end)); |
---|
| 563 | expV = exp(-10*(WeiV*vector' + ShiftStick) ); |
---|
| 564 | betaTemp = StickVert*(0.5+1/(1+expV)); |
---|
| 565 | % therr should always be sticking (know don't care about occlusion) |
---|
| 566 | else |
---|
| 567 | betaTemp = StickVert; |
---|
| 568 | end |
---|
| 569 | temp = sparse(3,NuSupSize); |
---|
| 570 | temp(:,Target(1)) = rayBoundary(:,1); |
---|
| 571 | VertStickM_i = [VertStickM_i; betaTemp*temp(:)']; |
---|
| 572 | temp = sparse(3,NuSupSize); |
---|
| 573 | temp(:,Target(2)) = rayBoundary(:,2); |
---|
| 574 | VertStickM_j = [VertStickM_j; betaTemp*temp(:)']; |
---|
| 575 | EstDepVertStick = [EstDepVertStick; sqrt(max(CleanedDepthMap(i),ClosestDist)*max(CleanedDepthMap(j),ClosestDist))]; |
---|
| 576 | VertStickPointInd = [VertStickPointInd i ]; |
---|
| 577 | |
---|
| 578 | end |
---|
| 579 | % ====finished finding the unucessary stiching points in Vertical direction === |
---|
| 580 | |
---|
| 581 | |
---|
| 582 | % ======================================Finish building up matrix=====================hard work====================== |
---|
| 583 | |
---|
| 584 | |
---|
| 585 | |
---|
| 586 | % ================================================================================================================ |
---|
| 587 | depthfile = strrep(Default.filename{k},'img','depth_learned'); % |
---|
| 588 | |
---|
| 589 | |
---|
| 590 | % Start Decompose the image align with superpixels ================================================================================== |
---|
| 591 | % define the decomposition in X direction only |
---|
| 592 | |
---|
| 593 | % ============== parameters for the decomposition problem |
---|
| 594 | % Optimal parameters for current code: |
---|
| 595 | % For one machine: Sedumi: (1,1) Lpsolve:(3,1) |
---|
| 596 | % Multiple machines: Sedumi: (4,1) LPsolve:(3,1) |
---|
| 597 | % lpsolve running time is 22 seconds for (4,2) arrangement; but numerical |
---|
| 598 | % accuracy needs to be resolved first. |
---|
| 599 | XNuDecompose = 2; |
---|
| 600 | YNuDecompose = 1; |
---|
| 601 | % ============ parameters for the decomposition problem |
---|
| 602 | |
---|
| 603 | |
---|
| 604 | |
---|
| 605 | TotalRectX = 2*XNuDecompose-1; |
---|
| 606 | TotalRectY= 2*YNuDecompose-1; |
---|
| 607 | PlanePara = NaN*ones(3*NuSupSize,1); % setup the lookuptable for the solved plane parameter |
---|
| 608 | |
---|
| 609 | opt = sdpsettings('solver','sedumi','cachesolvers',1,'sedumi.eps',1e-6,'verbose',solverVerboseLevel); |
---|
| 610 | % opt = sdpsettings('solver','lpsolve','cachesolvers',1,'verbose',5); |
---|
| 611 | % opt = sdpsettings('solver','lpsolve','cachesolvers',1,'showprogress',1, 'verbose',4); |
---|
| 612 | % opt = sdpsettings('solver','glpk','cachesolvers',1, 'usex0', 1); |
---|
| 613 | % opt = sdpsettings('solver','glpk', 'usex0', 1); |
---|
| 614 | %opt = sdpsettings('solver','linprog','cachesolvers',1); |
---|
| 615 | % opt = sdpsettings('solver','bpmpd'); |
---|
| 616 | |
---|
| 617 | for k = 0:(TotalRectX-1) |
---|
| 618 | l = rem(k*2,(TotalRectX)); |
---|
| 619 | RangeX = (1+ceil(Default.HoriXNuDepth/XNuDecompose)*l/2):... |
---|
| 620 | min((1+ceil(Default.HoriXNuDepth/XNuDecompose)*(l/2+1)),Default.HoriXNuDepth); |
---|
| 621 | RangeX = ceil(RangeX); |
---|
| 622 | for q = 0:(TotalRectY-1) |
---|
| 623 | l = rem(q*2,(TotalRectY)); |
---|
| 624 | RangeY = (1+ceil(Default.VertYNuDepth/YNuDecompose)*l/2):... |
---|
| 625 | min((1+ceil(Default.VertYNuDepth/YNuDecompose)*(l/2+1)),Default.VertYNuDepth); |
---|
| 626 | RangeY = ceil(RangeY); |
---|
| 627 | mask = zeros(size(Sup)); |
---|
| 628 | mask(RangeY,RangeX) = 1; |
---|
| 629 | mask =logical(mask); |
---|
| 630 | SubSup = sort(setdiff(unique( reshape( Sup(RangeY,RangeX),1,[])),0)); |
---|
| 631 | BoundarySup = []; |
---|
| 632 | % for m = SubSup |
---|
| 633 | if any(SubSup <=0) |
---|
| 634 | SubSup(SubSup<=0) |
---|
| 635 | end |
---|
| 636 | BoundarySup = find(sum(SupNeighborTable(SubSup,:), 1) ~=0); |
---|
| 637 | BoundarySup = unique(setdiff(BoundarySup,[0 SubSup] )); |
---|
| 638 | |
---|
| 639 | % chech if BoundarySup non-NaN in PlanePara |
---|
| 640 | checkNoNNaN = ~isnan(PlanePara(Sup2Para(BoundarySup)*3)); |
---|
| 641 | BoundarySup = BoundarySup(checkNoNNaN); |
---|
| 642 | TotalSup = sort([SubSup BoundarySup]); |
---|
| 643 | |
---|
| 644 | SubSupPtr = [ Sup2Para(SubSup)*3-2;... |
---|
| 645 | Sup2Para(SubSup)*3-1;... |
---|
| 646 | Sup2Para(SubSup)*3]; |
---|
| 647 | SubSupPtr = SubSupPtr(:); |
---|
| 648 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 649 | Sup2Para(BoundarySup)*3-1;... |
---|
| 650 | Sup2Para(BoundarySup)*3]; |
---|
| 651 | BoundarySupPtr = BoundarySupPtr(:); |
---|
| 652 | NuSubSupSize = size(SubSup,2); |
---|
| 653 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 654 | tar = sum(NewRayAllM ~= 0,2) == 3; |
---|
| 655 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 656 | NewPosiM = PosiM(:,SubSupPtr); |
---|
| 657 | tar = sum(NewPosiM ~= 0,2) == 3; |
---|
| 658 | NewPosiM = NewPosiM(tar,:); |
---|
| 659 | NewVarM = VarM(tar); |
---|
| 660 | NewPosiTriangulatedM = PosiTriangulatedM(:,SubSupPtr); |
---|
| 661 | tar = sum(NewPosiTriangulatedM ~= 0,2) == 3; |
---|
| 662 | NewPosiTriangulatedM = NewPosiTriangulatedM(tar,:); |
---|
| 663 | NewPosiSampledGroundM = PosiSampledGroundM(:,SubSupPtr); |
---|
| 664 | tar = sum(NewPosiSampledGroundM ~= 0,2) == 3; |
---|
| 665 | NewPosiSampledGroundM = NewPosiSampledGroundM(tar,:); |
---|
| 666 | |
---|
| 667 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 668 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 669 | tar = sum(NewCoPM ~= 0,2) + sum(NewCoPMBound ~= 0,2)==6; |
---|
| 670 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); |
---|
| 671 | NewCoPM = NewCoPM(tar,:); |
---|
| 672 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 673 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 674 | |
---|
| 675 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 676 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 677 | tar = sum(NewHoriStickM ~= 0,2)+ sum(NewHoriStickMBound ~= 0,2) ==6; |
---|
| 678 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 679 | NewEstDepHoriStick = EstDepHoriStick(tar); |
---|
| 680 | NewHoriStickMBound = NewHoriStickMBound*PlanePara(BoundarySupPtr); |
---|
| 681 | NewHoriStickMBound = NewHoriStickMBound(tar); |
---|
| 682 | NewWeightHoriNeighborStitch = WeightHoriNeighborStitch(tar); |
---|
| 683 | |
---|
| 684 | NewVertStickM = VertStickM_i(:,SubSupPtr)-VertStickM_j(:,SubSupPtr); |
---|
| 685 | NewVertStickMBound = VertStickM_i(:,BoundarySupPtr)-VertStickM_j(:,BoundarySupPtr); |
---|
| 686 | tar = sum(NewVertStickM ~= 0,2) + sum(NewVertStickMBound ~= 0,2)==6; |
---|
| 687 | NewVertStickM = NewVertStickM(tar,:); |
---|
| 688 | NewEstDepVertStick = EstDepVertStick(tar); |
---|
| 689 | NewVertStickMBound = NewVertStickMBound*PlanePara(BoundarySupPtr); |
---|
| 690 | NewVertStickMBound = NewVertStickMBound(tar); |
---|
| 691 | NewWeightVertNeighborStitch = WeightVertNeighborStitch(tar); |
---|
| 692 | |
---|
| 693 | ParaPPCP = sdpvar(3*NuSubSupSize,1); |
---|
| 694 | F = set(ParaPPCP(3*(1:NuSubSupSize)-1).*YPointer(Sup2Para(SubSup))<=0)... |
---|
| 695 | +set(NewRayAllM*ParaPPCP <=1/ClosestDist)... |
---|
| 696 | +set(NewRayAllM*ParaPPCP >=1/FarestDist); |
---|
| 697 | |
---|
| 698 | % ================================================================ |
---|
| 699 | |
---|
| 700 | WeightsSelfTerm = 1 ./ exp(abs(NewVarM)/BandWith); |
---|
| 701 | |
---|
| 702 | % ============ solver specific options ====== |
---|
| 703 | if strcmp(opt.solver, 'glpk') |
---|
| 704 | disp('Using x0 for GPLK'); |
---|
| 705 | ParaPPCP = NewPosiM \ ones(size(NewPosiM,1),1); |
---|
| 706 | end |
---|
| 707 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : In 1st level Optimization, using ' opt.solver '. ' ... |
---|
| 708 | '(' num2str(k+1) '/' num2str((TotalRectX-1)+1) ',' num2str(l+1) '/' num2str((TotalRectY-1)+1) ')']); |
---|
| 709 | |
---|
| 710 | sol = solvesdp(F, norm( (NewPosiM*ParaPPCP-ones(size(NewPosiM,1),1)) .* WeightsSelfTerm,1)... |
---|
| 711 | + TriangulatedWeight*norm( NewPosiTriangulatedM*ParaPPCP-ones(size(NewPosiTriangulatedM,1), 1), 1)+... |
---|
| 712 | + SampledGroundWeight*norm( NewPosiSampledGroundM*ParaPPCP-ones(size(NewPosiSampledGroundM,1), 1), 1)+... |
---|
| 713 | + Center*norm(((NewCoPM)*ParaPPCP + NewCoPMBound).*NewCoPEstDepth, 1)... |
---|
| 714 | + norm(((NewHoriStickM)*ParaPPCP + NewHoriStickMBound).*... |
---|
| 715 | NewEstDepHoriStick.*NewWeightHoriNeighborStitch,1)... |
---|
| 716 | + norm(((NewVertStickM)*ParaPPCP + NewVertStickMBound).*... |
---|
| 717 | NewEstDepVertStick.*NewWeightVertNeighborStitch,1) ... |
---|
| 718 | , opt); |
---|
| 719 | |
---|
| 720 | ParaPPCP = double(ParaPPCP); |
---|
| 721 | % sum(isnan(ParaPPCP)) |
---|
| 722 | yalmip('clear'); |
---|
| 723 | PlanePara(SubSupPtr) = ParaPPCP; |
---|
| 724 | |
---|
| 725 | end |
---|
| 726 | end |
---|
| 727 | |
---|
| 728 | % build the whole image |
---|
| 729 | PlanePara = reshape(PlanePara,3,[]); |
---|
| 730 | %any(any(isnan(PlanePara))) |
---|
| 731 | % porject the ray on planes to generate the ProjDepth |
---|
| 732 | FitDepthPPCP = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 733 | FitDepthPPCP(~maskSkyEroded) = (1./sum(PlanePara(:,Sup2Para(SupEpand(~maskSkyEroded ))).*Ray(:,~maskSkyEroded ),1))'; |
---|
| 734 | FitDepthPPCP = reshape(FitDepthPPCP,Default.VertYNuDepth,[]); |
---|
| 735 | |
---|
| 736 | % ===================================================== |
---|
| 737 | [Position3DFitedPPCP] = im_cr2w_cr(FitDepthPPCP,permute(Ray,[2 3 1])); |
---|
| 738 | if NoSecondStep %RenderVrmlFlag && i==3 |
---|
| 739 | [a b c] = size(Position3DFitedPPCP); |
---|
| 740 | % ============transfer to world coordinate |
---|
| 741 | Position3DFitedPPCP = Rotation*Position3DFitedPPCP(:,:) + repmat(Translation, 1, length(Position3DFitedPPCP(:,:))); |
---|
| 742 | Position3DFitedPPCP = reshape(Position3DFitedPPCP, a, b, []); |
---|
| 743 | % ======================================== |
---|
| 744 | Position3DFitedPPCP(3,:) = -Position3DFitedPPCP(3,:); |
---|
| 745 | Position3DFitedPPCP = permute(Position3DFitedPPCP,[2 3 1]); |
---|
| 746 | RR =permute(Ray,[2 3 1]); |
---|
| 747 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 748 | 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]); |
---|
| 749 | PositionTex = permute(PositionTex,[2 3 1]); |
---|
| 750 | WrlFacestHroiReduce(Position3DFitedPPCP,PositionTex,SupOri, [ Default.filename{1} '1st'],[ Default.Wrlname{1} '1st'], ... |
---|
| 751 | Default.OutPutFolder, GridFlag, appendOpt); |
---|
| 752 | system(['gzip -9 -c ' Default.OutPutFolder Default.filename{1} '1st.wrl > ' ... |
---|
| 753 | Default.OutPutFolder Default.filename{1} '1st.wrl.gz']); |
---|
| 754 | system(['cp ' Default.OutPutFolder Default.filename{1} '1st.wrl.gz ' ... |
---|
| 755 | Default.OutPutFolder Default.filename{1} '1st.wrl']); |
---|
| 756 | delete([Default.OutPutFolder Default.filename{1} '1st.wrl.gz']); |
---|
| 757 | end |
---|
| 758 | |
---|
| 759 | % Trial for segmentaion of the plane parameters |
---|
| 760 | if PlaneParaSegmentationFlag |
---|
| 761 | TempSup = Sup;%imresize(Sup,[330 610]); |
---|
| 762 | TempSup(TempSup==0) = max(TempSup(:))+1; |
---|
| 763 | TempSup2Para = Sup2Para; |
---|
| 764 | TempSup2Para(end+1) = size(PlanePara,2); |
---|
| 765 | TempPlanePara = PlanePara; |
---|
| 766 | TempPlanePara(:,end+1) = 0; |
---|
| 767 | PlaneParaPics = TempPlanePara(:,TempSup2Para( TempSup)); |
---|
| 768 | PlaneParaPics = PlaneParaPics./repmat( 2*max(abs(PlaneParaPics),[],2), 1, size(PlaneParaPics,2)); |
---|
| 769 | PlaneParaPics = permute( reshape( PlaneParaPics, 3, 55, []), [2 3 1])+0.5; |
---|
| 770 | MergedPlaneParaPics = segmentImgOpt( Default.sigm*scale, Default.k*scale, Default.minp*10*scale, PlaneParaPics, '', 0) + 1; |
---|
| 771 | if Default.Flag.DisplayFlag |
---|
| 772 | figure(400); |
---|
| 773 | imaegsc( PlaneParaPics); |
---|
| 774 | imaegsc( MergedPlaneParaPics); |
---|
| 775 | end |
---|
| 776 | save('/afs/cs/group/reconstruction3d/scratch/testE/PlaneParaPics.mat','PlaneParaPics','MergedPlaneParaPics'); |
---|
| 777 | end |
---|
| 778 | |
---|
| 779 | %return; |
---|
| 780 | %==================Finished for one step MRF========================================================================================================== |
---|
| 781 | |
---|
| 782 | if NoSecondStep |
---|
| 783 | return; |
---|
| 784 | end |
---|
| 785 | |
---|
| 786 | % ====================================following are 2nd step MRF to give more visually pleasing result======================================= |
---|
| 787 | ;% generating new PosiMPPCP using the new position |
---|
| 788 | |
---|
| 789 | % save([Default.ScratchDataFolder '/data/VertShiftVrml.mat' ] ); |
---|
| 790 | % groundThreshold = cos(5*pi/180); % make small range |
---|
| 791 | % verticalThreshold = cos(50*pi/180); |
---|
| 792 | normPara = norms(PlanePara); |
---|
| 793 | normalizedPara = PlanePara ./ repmat( normPara, [3 1]); |
---|
| 794 | %groundPara = abs(normalizedPara(2,:)) >= groundThreshold(YPosition); % assuming ground has [0; 1; 0] surface norm |
---|
| 795 | groundPara = abs(CoordinateFromRef(:,2)'*normalizedPara) >= groundThreshold(YPosition); % CoordinateFromRef(:,2) is the new ground surface norm |
---|
| 796 | groundParaInd = find(groundPara); |
---|
| 797 | % verticalPara = abs(normalizedPara(2,:)) <= verticalThreshold(YPosition); % ssuming ground has [0; 1; 0] surface norm |
---|
| 798 | verticalPara = abs( CoordinateFromRef(:,2)'*normalizedPara) <= verticalThreshold(YPosition); % CoordinateFromRef(:,2) is the new ground surface norm |
---|
| 799 | verticalParaInd = find(verticalPara); |
---|
| 800 | |
---|
| 801 | indexVertical = find( verticalPara)*3-1; |
---|
| 802 | indexGroundX = find( groundPara)*3-2; |
---|
| 803 | indexGroundZ = find( groundPara)*3; |
---|
| 804 | |
---|
| 805 | PosiMPPCP = sparse(0,0); |
---|
| 806 | VarM2 = sparse(0,0); |
---|
| 807 | % VertVar = 10^(-2); |
---|
| 808 | % forming new supporting matrix using new depth and get rid of the support of the vertical plane |
---|
| 809 | for i = NuSup |
---|
| 810 | mask = Sup == i; |
---|
| 811 | if any(verticalParaInd == Sup2Para(i)) |
---|
| 812 | mask = logical(zeros(size(Sup))); |
---|
| 813 | end |
---|
| 814 | PosiMPPCP = blkdiag(PosiMPPCP, Posi3D(:,mask)'); |
---|
| 815 | VarM2 = [VarM2; VarMap(mask)]; |
---|
| 816 | end |
---|
| 817 | |
---|
| 818 | % Start Decompose image ========================= |
---|
| 819 | XNuDecompose = 2; |
---|
| 820 | YNuDecompose = 1; |
---|
| 821 | TotalRectX = 2*XNuDecompose-1; |
---|
| 822 | TotalRectY = 2*YNuDecompose-1; |
---|
| 823 | PlanePara = NaN*ones(3*NuSupSize,1); % setup the lookuptable for the solved plane parameter |
---|
| 824 | |
---|
| 825 | opt = sdpsettings('solver','sedumi','cachesolvers',1, 'verbose', solverVerboseLevel); |
---|
| 826 | % opt = sdpsettings('solver','lpsolve','cachesolvers',1); |
---|
| 827 | % opt = sdpsettings('solver','glpk','cachesolvers',1); |
---|
| 828 | |
---|
| 829 | for k = 0:(TotalRectX-1) |
---|
| 830 | l = rem(k*2,(TotalRectX)); |
---|
| 831 | RangeX = (1+ceil(Default.HoriXNuDepth/XNuDecompose)*l/2):... |
---|
| 832 | min((1+ceil(Default.HoriXNuDepth/XNuDecompose)*(l/2+1)),Default.HoriXNuDepth); |
---|
| 833 | RangeX = ceil(RangeX); |
---|
| 834 | for q = 0:(TotalRectY-1) |
---|
| 835 | l = rem(q*2,(TotalRectY)); |
---|
| 836 | RangeY = (1+ceil(Default.VertYNuDepth/YNuDecompose)*l/2):... |
---|
| 837 | min((1+ceil(Default.VertYNuDepth/YNuDecompose)*(l/2+1)),Default.VertYNuDepth); |
---|
| 838 | RangeY = ceil(RangeY); |
---|
| 839 | mask = zeros(size(Sup)); |
---|
| 840 | mask(RangeY,RangeX) = 1; |
---|
| 841 | mask =logical(mask); |
---|
| 842 | % SubSup = sort(setdiff(reshape( Sup(RangeY,RangeX),[],1),0))'; |
---|
| 843 | SubSup = sort(setdiff( unique( reshape( Sup(RangeY,RangeX),1,[])),0)); |
---|
| 844 | BoundarySup = []; |
---|
| 845 | % for m = SubSup |
---|
| 846 | BoundarySup = find(sum(SupNeighborTable(SubSup,:), 1) ~=0); |
---|
| 847 | % maskList = ClosestNList(:,1) == m; |
---|
| 848 | % BoundarySup = [ BoundarySup ClosestNList(maskList,2)']; |
---|
| 849 | % end |
---|
| 850 | BoundarySup = unique(setdiff(BoundarySup,[0 SubSup] )); |
---|
| 851 | |
---|
| 852 | % chech if BoundarySup non-NaN in PlanePara |
---|
| 853 | checkNoNNaN = ~isnan(PlanePara(Sup2Para(BoundarySup)*3)); |
---|
| 854 | BoundarySup = BoundarySup(checkNoNNaN); |
---|
| 855 | TotalSup = sort([SubSup BoundarySup]); |
---|
| 856 | |
---|
| 857 | % TotalSupPtr = [ Sup2Para(TotalSup)*3-2;... |
---|
| 858 | % Sup2Para(TotalSup)*3-1;... |
---|
| 859 | % Sup2Para(TotalSup)*3]; |
---|
| 860 | % TotalSupPtr = TotalSupPtr(:); |
---|
| 861 | SubSupPtr = [ Sup2Para(SubSup)*3-2;... |
---|
| 862 | Sup2Para(SubSup)*3-1;... |
---|
| 863 | Sup2Para(SubSup)*3]; |
---|
| 864 | SubSupPtr = SubSupPtr(:); |
---|
| 865 | BoundarySupPtr = [ Sup2Para(BoundarySup)*3-2;... |
---|
| 866 | Sup2Para(BoundarySup)*3-1;... |
---|
| 867 | Sup2Para(BoundarySup)*3]; |
---|
| 868 | BoundarySupPtr =BoundarySupPtr(:); |
---|
| 869 | % NuSubSupSize = size(TotalSup,2); |
---|
| 870 | NuSubSupSize = size(SubSup,2); |
---|
| 871 | % TotalSup2Para = sparse(1,max(TotalSup)); |
---|
| 872 | % TotalSup2Para(TotalSup) = 1:NuSubSupSize; |
---|
| 873 | SubSup2Para = sparse(1,max(SubSup)); |
---|
| 874 | SubSup2Para(SubSup) = 1:NuSubSupSize; |
---|
| 875 | % BoundarySupPtrSub = [ TotalSup2Para(BoundarySup)*3-2;... |
---|
| 876 | % TotalSup2Para(BoundarySup)*3-1;... |
---|
| 877 | % TotalSup2Para(BoundarySup)*3]; |
---|
| 878 | % BoundarySupPtrSub =BoundarySupPtrSub(:); |
---|
| 879 | % SubSupPtrSub = [ TotalSup2Para(SubSup)*3-2;... |
---|
| 880 | % TotalSup2Para(SubSup)*3-1;... |
---|
| 881 | % TotalSup2Para(SubSup)*3]; |
---|
| 882 | % SubSupPtrSub =SubSupPtrSub(:); |
---|
| 883 | |
---|
| 884 | % clearn RayAllM PosiM CoPM1 HoriStickM_i VertStickM_i |
---|
| 885 | % NewRayAllM = RayAllM(:,TotalSupPtr); |
---|
| 886 | NewRayAllM = RayAllM(:,SubSupPtr); |
---|
| 887 | tar = sum(NewRayAllM ~= 0,2) ==3; |
---|
| 888 | NewRayAllM = NewRayAllM(tar,:); |
---|
| 889 | |
---|
| 890 | % NewPosiMPPCP = PosiMPPCP(:,TotalSupPtr); |
---|
| 891 | NewPosiMPPCP = PosiMPPCP(:,SubSupPtr); |
---|
| 892 | tar = sum(NewPosiMPPCP ~= 0,2) ==3; |
---|
| 893 | NewPosiMPPCP = NewPosiMPPCP(tar,:); |
---|
| 894 | NewVarM = VarM2(tar); |
---|
| 895 | NewPosiTriangulatedM = PosiTriangulatedM(:,SubSupPtr); |
---|
| 896 | tar = sum(NewPosiTriangulatedM ~= 0,2) == 3; |
---|
| 897 | NewPosiTriangulatedM = NewPosiTriangulatedM(tar,:); |
---|
| 898 | NewPosiSampledGroundM = PosiSampledGroundM(:,SubSupPtr); |
---|
| 899 | tar = sum(NewPosiSampledGroundM ~= 0,2) == 3; |
---|
| 900 | NewPosiSampledGroundM = NewPosiSampledGroundM(tar,:); |
---|
| 901 | |
---|
| 902 | % NewCoPM = CoPM1(:,TotalSupPtr) - CoPM2(:,TotalSupPtr); |
---|
| 903 | NewCoPM = CoPM1(:,SubSupPtr) - CoPM2(:,SubSupPtr); |
---|
| 904 | NewCoPMBound = CoPM1(:,BoundarySupPtr) - CoPM2(:,BoundarySupPtr); |
---|
| 905 | % tar = sum( NewCoPM ~= 0,2) ==6; |
---|
| 906 | tar = sum( NewCoPM ~= 0,2) + sum( NewCoPMBound ~= 0,2) ==6; |
---|
| 907 | NewCoPM = NewCoPM(tar,:); |
---|
| 908 | NewCoPMBound = NewCoPMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 909 | NewCoPMBound = NewCoPMBound(tar); |
---|
| 910 | NewCoPEstDepth = CoPEstDepth(tar); |
---|
| 911 | |
---|
| 912 | % NewHoriStickM = HoriStickM_i(:,TotalSupPtr)-HoriStickM_j(:,TotalSupPtr); |
---|
| 913 | NewHoriStickM = HoriStickM_i(:,SubSupPtr)-HoriStickM_j(:,SubSupPtr); |
---|
| 914 | NewHoriStickMBound = HoriStickM_i(:,BoundarySupPtr)-HoriStickM_j(:,BoundarySupPtr); |
---|
| 915 | % tar = sum(NewHoriStickM ~= 0,2) ==6; |
---|
| 916 | tar = sum(NewHoriStickM ~= 0,2) + sum( NewHoriStickMBound ~= 0,2)==6; |
---|
| 917 | NewHoriStickM = NewHoriStickM(tar,:); |
---|
| 918 | NewHoriStickMBound = NewHoriStickMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 919 | NewHoriStickMBound = NewHoriStickMBound(tar); |
---|
| 920 | NewEstDepHoriStick = EstDepHoriStick(tar); |
---|
| 921 | NewWeightHoriNeighborStitch = WeightHoriNeighborStitch(tar); |
---|
| 922 | |
---|
| 923 | % NewVertStickM = VertStickM_i(:,TotalSupPtr)-VertStickM_j(:,TotalSupPtr); |
---|
| 924 | NewVertStickM = VertStickM_i(:,SubSupPtr)-VertStickM_j(:,SubSupPtr); |
---|
| 925 | NewVertStickMBound = VertStickM_i(:, BoundarySupPtr)-VertStickM_j(:,BoundarySupPtr); |
---|
| 926 | % tar = sum(NewVertStickM ~= 0,2) ==6; |
---|
| 927 | tar = sum(NewVertStickM ~= 0,2) + sum(NewVertStickMBound ~= 0,2)==6; |
---|
| 928 | NewVertStickM = NewVertStickM(tar,:); |
---|
| 929 | NewVertStickMBound = NewVertStickMBound*PlanePara(BoundarySupPtr); % column vertor |
---|
| 930 | NewVertStickMBound = NewVertStickMBound(tar); |
---|
| 931 | NewEstDepVertStick = EstDepVertStick(tar); |
---|
| 932 | NewWeightVertNeighborStitch = WeightVertNeighborStitch(tar); |
---|
| 933 | |
---|
| 934 | % try reduce the vertical constrain |
---|
| 935 | %NonVertPtr = setdiff( 1:(3*NuSubSupSize), SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))*3-1 ); |
---|
| 936 | YNoComingBack = YPointer(Sup2Para(SubSup)); |
---|
| 937 | % YNoComingBack(SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))) = []; |
---|
| 938 | % YCompMask = zeros(1,3*NuSubSupSize); |
---|
| 939 | % YCompMask(3*(1:NuSubSupSize)-1) = 1; |
---|
| 940 | % YCompMask = YCompMask(NonVertPtr); |
---|
| 941 | XCompMask = zeros(1,3*NuSubSupSize); |
---|
| 942 | % XCompMask( SubSup2Para( NuSup( (intersect( indexGroundX,SubSupPtr ) +2)/3))*3-2 ) = 1; |
---|
| 943 | XCompMask = SubSup2Para( NuSup( (intersect( indexGroundX,SubSupPtr ) +2)/3)); |
---|
| 944 | VertMask = intersect( find(verticalPara), ( SubSupPtr( 3:3:( size(SubSupPtr,1)) )/3 ) ) ; |
---|
| 945 | % XCompMask = XCompMask(NonVertPtr); |
---|
| 946 | YCompMask = zeros(1,3*NuSubSupSize); |
---|
| 947 | YCompMask = SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr )+1 )/3)); |
---|
| 948 | % ZCompMask = ZCompMask(NonVertPtr); |
---|
| 949 | GroundMask = intersect( find(groundPara), ( SubSupPtr( 3:3:( size(SubSupPtr,1)) )/3 ) ) ; |
---|
| 950 | |
---|
| 951 | Para = sdpvar( 3*NuSubSupSize,1); |
---|
| 952 | % F = set(Para(3*(1:NuSubSupSize)-1).*YPointer(Sup2Para(SubSup))<=0)... |
---|
| 953 | % +set( Para( SubSup2Para( NuSup( (intersect( indexVertical,SubSupPtr ) +1)/3))*3-1) == 0); |
---|
| 954 | % +set(Para(BoundarySupPtrSub) == PlanePara(BoundarySupPtr) )... |
---|
| 955 | % Special constrain for decomp fix the solved neighbor plane parameter |
---|
| 956 | |
---|
| 957 | % +set(Para(indexGroundX) == 0)... |
---|
| 958 | % +set(Para(indexGroundZ) == 0); |
---|
| 959 | |
---|
| 960 | % if FractionalDepthError |
---|
| 961 | % % size(PosiMPPCP) |
---|
| 962 | |
---|
| 963 | fprintf([ ' ' num2str( toc(inferenceTime) ) '\n : In 2nd level Optimization, using ' opt.solver '. ' ... |
---|
| 964 | '(' num2str(k+1) '/' num2str((TotalRectX-1)+1) ',' num2str(l+1) '/' num2str((TotalRectY-1)+1) ')']); |
---|
| 965 | if ~isempty(y0) |
---|
| 966 | disp('y0 constrain'); |
---|
| 967 | F = set( CoordinateFromRef(:,2)'*reshape(Para,3,[]).*YNoComingBack'<=0)... |
---|
| 968 | +set(NewRayAllM*Para <=1/ClosestDist)... |
---|
| 969 | +set(NewRayAllM*Para >=1/FarestDist)... |
---|
| 970 | ; |
---|
| 971 | % +set( Para( XCompMask*3-2) == Rotation(2,1)'./(y0 - Translation(2)) )... |
---|
| 972 | % +set( Para( XCompMask*3-1) == Rotation(2,2)'./(y0 - Translation(2)) )... |
---|
| 973 | % +set( Para( XCompMask*3) == Rotation(2,3)'./(y0 - Translation(2)) )... |
---|
| 974 | sol=solvesdp(F,norm( ( NewPosiMPPCP*Para-ones(size(NewPosiMPPCP,1),1))./exp(abs(NewVarM)/BandWith),1)... |
---|
| 975 | +TriangulatedWeight*norm( NewPosiTriangulatedM*Para-ones(size(NewPosiTriangulatedM,1), 1), 1)+... |
---|
| 976 | +SampledGroundWeight*norm( NewPosiSampledGroundM*Para-ones(size(NewPosiSampledGroundM,1), 1), 1)+... |
---|
| 977 | +Center*norm(( NewCoPM*Para + NewCoPMBound).*NewCoPEstDepth, 1)... |
---|
| 978 | +norm(( NewHoriStickM*Para + NewHoriStickMBound).*... |
---|
| 979 | NewEstDepHoriStick.*NewWeightHoriNeighborStitch,1)... |
---|
| 980 | +norm(( NewVertStickM*Para + NewVertStickMBound).*... |
---|
| 981 | NewEstDepVertStick.*NewWeightVertNeighborStitch,1)... |
---|
| 982 | +10*norm( ( CoordinateFromRef(:,1)'*reshape( Para( reshape( [XCompMask*3-2; XCompMask*3-1 ;XCompMask*3], [], 1) ) , 3, []) )./... |
---|
| 983 | normPara( GroundMask ), 1)... |
---|
| 984 | +10*norm( ( CoordinateFromRef(:,3)'*reshape( Para( reshape( [XCompMask*3-2; XCompMask*3-1 ;XCompMask*3], [], 1) ) , 3, []))./... |
---|
| 985 | normPara( GroundMask ), 1) ... |
---|
| 986 | +10*norm( ( CoordinateFromRef(:,2)'*reshape( Para( reshape( [YCompMask*3-2; YCompMask*3-1 ;YCompMask*3], [], 1) ) , 3, []))./... |
---|
| 987 | normPara( VertMask ), 1) ... |
---|
| 988 | +GroundLevelWright*norm( Para( XCompMask*3-2) - Rotation(2,1)'./(y0 - Translation(2)), 1)... |
---|
| 989 | +GroundLevelWright*norm( Para( XCompMask*3-1) - Rotation(2,2)'./(y0 - Translation(2)), 1)... |
---|
| 990 | +GroundLevelWright*norm( Para( XCompMask*3) - Rotation(2,3)'./(y0 - Translation(2)), 1)... |
---|
| 991 | , opt); |
---|
| 992 | else |
---|
| 993 | F = set( CoordinateFromRef(:,2)'*reshape(Para,3,[]).*YNoComingBack'<=0)... |
---|
| 994 | +set(NewRayAllM*Para <=1/ClosestDist)... |
---|
| 995 | +set(NewRayAllM*Para >=1/FarestDist); |
---|
| 996 | sol=solvesdp(F,norm( ( NewPosiMPPCP*Para-ones(size(NewPosiMPPCP,1),1))./exp(abs(NewVarM)/BandWith),1)... |
---|
| 997 | +TriangulatedWeight*norm( NewPosiTriangulatedM*Para-ones(size(NewPosiTriangulatedM,1), 1), 1)+... |
---|
| 998 | +SampledGroundWeight*norm( NewPosiSampledGroundM*Para-ones(size(NewPosiSampledGroundM,1), 1), 1)+... |
---|
| 999 | +Center*norm(( NewCoPM*Para + NewCoPMBound).*NewCoPEstDepth, 1)... |
---|
| 1000 | +norm(( NewHoriStickM*Para + NewHoriStickMBound).*... |
---|
| 1001 | NewEstDepHoriStick.*NewWeightHoriNeighborStitch,1)... |
---|
| 1002 | +norm(( NewVertStickM*Para + NewVertStickMBound).*... |
---|
| 1003 | NewEstDepVertStick.*NewWeightVertNeighborStitch,1)... |
---|
| 1004 | +10*norm( ( CoordinateFromRef(:,1)'*reshape( Para( reshape( [XCompMask*3-2; XCompMask*3-1 ;XCompMask*3], [], 1) ) , 3, []) )./... |
---|
| 1005 | normPara( GroundMask ), 1)... |
---|
| 1006 | +10*norm( ( CoordinateFromRef(:,3)'*reshape( Para( reshape( [XCompMask*3-2; XCompMask*3-1 ;XCompMask*3], [], 1) ) , 3, []))./... |
---|
| 1007 | normPara( GroundMask ), 1) ... |
---|
| 1008 | +10*norm( ( CoordinateFromRef(:,2)'*reshape( Para( reshape( [YCompMask*3-2; YCompMask*3-1 ;YCompMask*3], [], 1) ) , 3, []))./... |
---|
| 1009 | normPara( VertMask ), 1) ... |
---|
| 1010 | , opt); |
---|
| 1011 | end |
---|
| 1012 | % ==============not used ============ |
---|
| 1013 | % +10*norm( ( Para( XCompMask ))./... |
---|
| 1014 | % normPara( intersect( find(groundPara), ( SubSupPtr( 3:3:( size(SubSupPtr,1)) )/3 ) ) )', 1)... |
---|
| 1015 | % +10*norm( ( Para( ZCompMask))./... |
---|
| 1016 | % normPara( intersect( find(groundPara), ( SubSupPtr( 3:3:( size(SubSupPtr,1)) )/3 ) ) )', 1) ... |
---|
| 1017 | |
---|
| 1018 | |
---|
| 1019 | |
---|
| 1020 | % sqrt( max(CoPM1*ParaPPCP(:), 1/FarestDist).*max(CoPM2*ParaPPCP(:), 1/FarestDist)), 1)... |
---|
| 1021 | % +norm(((VertStickM_i-VertStickM_j)*Para)./... |
---|
| 1022 | % sqrt( max(VertStickM_i*ParaPPCP(:), 1/FarestDist).*max(VertStickM_j*ParaPPCP(:), 1/FarestDist)),1)... |
---|
| 1023 | % pause; |
---|
| 1024 | % +1000*norm( Para(indexVertical)./ normPara( find(verticalPara) )',1) ... |
---|
| 1025 | % +norm(((HoriStickM_i-HoriStickM_j)*Para)./sqrt((VertStickM_i*ParaPPCP(:)).*(VertStickM_j*ParaPPCP(:))),1)... |
---|
| 1026 | % % else % not used anymore |
---|
| 1027 | % solvesdp(F,norm( RayMd*Para - DepthInverseM,1)... |
---|
| 1028 | % +Center*norm((CoPM1 - CoPM2)*Para,1)... |
---|
| 1029 | % +norm((VertStickM_i-VertStickM_j)*Para,1)... |
---|
| 1030 | % +norm((HoriStickM_i-HoriStickM_j)*Para,1)... |
---|
| 1031 | % +1000*norm( Para(indexVertical)./ normPara( find(verticalPara) )',1) ... |
---|
| 1032 | % +1000*norm( Para(indexGroundX)./ normPara( find(groundPara) )', 1) ... |
---|
| 1033 | % +1000*norm( Para(indexGroundZ)./ normPara( find(groundPara) )', 1) ... |
---|
| 1034 | % , opt); |
---|
| 1035 | % % +0.01*norm( RayMtilt*ParaPPCP,1)... |
---|
| 1036 | % % +norm(spdiags(WeiCoP,0,size(CoPM1,1),size(CoPM1,1))*(CoPM1 - CoPM2)*ParaPPCP,1)... |
---|
| 1037 | % % +norm( (CoPM1 - CoPM2)*ParaPPCP,1 )... |
---|
| 1038 | % end |
---|
| 1039 | % ================================== |
---|
| 1040 | Para = double(Para); |
---|
| 1041 | %sum(isnan(Para)) |
---|
| 1042 | yalmip('clear'); |
---|
| 1043 | tempPara = zeros(3*NuSubSupSize,1); |
---|
| 1044 | tempPara = Para; |
---|
| 1045 | % tempPara(NonVertPtr) = Para; |
---|
| 1046 | % PlanePara(TotalSupPtr) = Para; |
---|
| 1047 | PlanePara(SubSupPtr) = tempPara; |
---|
| 1048 | end |
---|
| 1049 | end |
---|
| 1050 | |
---|
| 1051 | %pause |
---|
| 1052 | PlanePara = reshape(PlanePara,3,[]); |
---|
| 1053 | FitDepth = FarestDist*ones(1,Default.VertYNuDepth*Default.HoriXNuDepth); |
---|
| 1054 | FitDepth(~maskSkyEroded) = (1./sum(PlanePara(:,Sup2Para(SupEpand(~maskSkyEroded))).*Ray(:,~maskSkyEroded),1))'; |
---|
| 1055 | FitDepth = reshape(FitDepth,Default.VertYNuDepth,[]); |
---|
| 1056 | |
---|
| 1057 | % ==========Storage ============== |
---|
| 1058 | if Default.Flag.AfterInferenceStorage |
---|
| 1059 | save([ Default.ScratchFolder '/' strrep( Default.filename{1},'.jpg','') '_AInf.mat' ], 'FitDepth', ... |
---|
| 1060 | 'Sup', 'SupOri', 'MedSup', 'RayOri','Ray','SupNeighborTable','maskSky','maskG','MultiScaleSupTable'); |
---|
| 1061 | end |
---|
| 1062 | % =============================== |
---|
| 1063 | %sum(isnan(FitDepth(:))) |
---|
| 1064 | [Position3DFited] = im_cr2w_cr(FitDepth,permute(Ray,[2 3 1])); |
---|
| 1065 | [a b c] = size(Position3DFited); |
---|
| 1066 | % ============transfer to world coordinate |
---|
| 1067 | Position3DFited = Rotation*Position3DFited(:,:) + repmat(Translation, 1, length(Position3DFited(:,:))); |
---|
| 1068 | Position3DFited = reshape(Position3DFited, a, b, []); |
---|
| 1069 | % ======================================== |
---|
| 1070 | Position3DFited(3,:) = -Position3DFited(3,:); |
---|
| 1071 | Position3DFited = permute(Position3DFited,[2 3 1]); |
---|
| 1072 | RR =permute(Ray,[2 3 1]); |
---|
| 1073 | temp = RR(:,:,1:2)./repmat(RR(:,:,3),[1 1 2]); |
---|
| 1074 | PositionTex = permute(temp./repmat(cat(3,Default.a_default,Default.b_default),... |
---|
| 1075 | [Default.VertYNuDepth Default.HoriXNuDepth 1])... |
---|
| 1076 | +repmat(cat(3,Default.Ox_default,Default.Oy_default),... |
---|
| 1077 | [Default.VertYNuDepth Default.HoriXNuDepth 1]),[3 1 2]); |
---|
| 1078 | PositionTex = permute(PositionTex,[2 3 1]); |
---|
| 1079 | |
---|
| 1080 | |
---|
| 1081 | fprintf([' ' num2str( toc(inferenceTime) ) '\n : Writing WRL.']); |
---|
| 1082 | WrlFacestHroiReduce(Position3DFited, PositionTex, SupOri, Default.filename{1}, Default.Wrlname{1}, ... |
---|
| 1083 | Default.OutPutFolder, GridFlag, appendOpt); |
---|
| 1084 | |
---|
| 1085 | % system(['gzip -9 -c ' Default.OutPutFolder Default.Wrlname{1} '.wrl > ' ... |
---|
| 1086 | % Default.OutPutFolder Default.Wrlname{1} '.wrl.gz']); |
---|
| 1087 | % system(['cp ' Default.OutPutFolder Default.Wrlname{1} '.wrl.gz ' ... |
---|
| 1088 | % Default.OutPutFolder Default.Wrlname{1} '.wrl']); |
---|
| 1089 | % delete([Default.OutPutFolder Default.Wrlname{1} '.wrl.gz']); |
---|
| 1090 | |
---|
| 1091 | % Trial for segmentaion of the plane parameters |
---|
| 1092 | if PlaneParaSegmentationFlag |
---|
| 1093 | TempSup = Sup;%imresize(Sup,[330 610]); |
---|
| 1094 | TempSup(TempSup==0) = max(TempSup(:))+1; |
---|
| 1095 | TempSup2Para = Sup2Para; |
---|
| 1096 | TempSup2Para(end+1) = size(PlanePara,2); |
---|
| 1097 | TempPlanePara = PlanePara; |
---|
| 1098 | TempPlanePara(:,end+1) = 0; |
---|
| 1099 | PlaneParaPics = TempPlanePara(:,TempSup2Para( TempSup)); |
---|
| 1100 | PlaneParaPics = PlaneParaPics./repmat( 2*max(abs(PlaneParaPics),[],2), 1, size(PlaneParaPics,2)); |
---|
| 1101 | PlaneParaPics2 = permute( reshape( PlaneParaPics, 3, 55, []), [2 3 1])+0.5; |
---|
| 1102 | MergedPlaneParaPics = segmentImgOpt( Default.sigm*scale, Default.k*scale, Default.minp*10*scale, PlaneParaPics, '', 0) + 1; |
---|
| 1103 | if Default.Flag.DisplayFlag |
---|
| 1104 | figure(400); |
---|
| 1105 | imaegsc( PlaneParaPics); |
---|
| 1106 | imaegsc( MergedPlaneParaPics); |
---|
| 1107 | end |
---|
| 1108 | save('/afs/cs/group/reconstruction3d/scratch/testE/PlaneParaPics2.mat','PlaneParaPics2','MergedPlaneParaPics'); |
---|
| 1109 | end |
---|
| 1110 | % save depth Map ++++++++++++++++ |
---|
| 1111 | % depthMap = FitDepth; |
---|
| 1112 | % system(['mkdir ' Default.ScratchDataFolder '/VNonSupport_' DepthFolder '/']); |
---|
| 1113 | % save([Default.ScratchDataFolder '/VNonSupport_' DepthFolder '/' depthfile '.mat'],'depthMap'); |
---|
| 1114 | % ============================= |
---|
| 1115 | % return; |
---|