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. |
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389 | |
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390 | % In some cases, one may experiment with picking only 1 point when the 2 |
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391 | % points are too close ---- this will make the algorithm faster; but might |
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392 | % produce surprising (e.g. a triangle sticking out) sometimes. |
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393 | % An ideal algorithm will reduce the number of points by checking for loops |
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394 | % passing through 3 or less superpixels through this matrix; and removing |
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395 | % them such that the smallest loop passes through 4 superpixels. (see EE263 |
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396 | % for a quick algorithm to do this -- involves product of matrices. |
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397 | % ================================================================== |
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398 | |
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399 | DIST_STICHING_THRESHOLD_HORI = 0.4; |
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400 | DIST_STICHING_THRESHOLD_HORI_ONLYCOL = -0.5; % effectively not used, |
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401 | |
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402 | SupPixelNeighborList = sparse( max(Sup(:)), max(Sup(:)) ); |
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403 | SupPixelParsedList = sparse( max(Sup(:)), max(Sup(:)) ); |
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404 | recordAdded1 = sparse( max(Sup(:)), max(Sup(:)) ); |
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405 | recordAdded2 = sparse( max(Sup(:)), max(Sup(:)) ); |
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406 | addedIndexList = [ ]; |
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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; |
---|