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 [] = RunCompleteMRF_efficient( Default, img, Predicted, MedSup, Sup, SupOri, TextSup,... |
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40 | SupNeighborTable, SupSize, maskSky, maskg); |
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41 | %function [] = RunCompleteMRF(BatchNu,LearnType,LearnSkyEx,LearnLog,LearnNear,... |
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42 | % LearnAlg,baseline,step); |
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43 | |
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44 | % This Function prepare the Two things for the ReportPlaneParaMRF |
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45 | % 1) align the superpixel onto the straight line boundary |
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46 | % and the superpixel bounary |
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47 | % 2) Using Multiple segmentation hurestic to determine occlusion |
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48 | % (right now it works sucks) |
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49 | |
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50 | % Stup Flags |
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51 | MultiScaleSup = true; % If yes, analyze Multiple segmentation for relation weights |
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52 | STNeeded = true; % If yes, align the ray to the bundary of the superpixels |
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53 | DisplayFlag = Default.Flag.DisplayFlag; % set to display or not |
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54 | |
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55 | % initalize the RayOri and Ray (this is after stitching) |
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56 | SampleIndexYSmall = repmat((1:Default.VertYNuDepth)',[1 Default.HoriXNuDepth]); |
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57 | SampleIndexXSmall = repmat((1:Default.HoriXNuDepth),[Default.VertYNuDepth 1]); |
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58 | SampleImCoordYSmall = (( Default.VertYNuDepth+1-SampleIndexYSmall)-0.5)/Default.VertYNuDepth - Default.Oy_default; |
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59 | SampleImCoordXSmall = ( SampleIndexXSmall-0.5)/Default.HoriXNuDepth - Default.Ox_default; |
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60 | RayOri = RayImPosition( SampleImCoordYSmall, SampleImCoordXSmall,... |
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61 | Default.a_default, Default.b_default, ... |
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62 | Default.Ox_default,Default.Oy_default); %[ horiXSizeLowREs VertYSizeLowREs 3] |
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63 | RayOri = permute(RayOri,[3 1 2]); %[ 3 horiXSizeLowREs VertYSizeLowREs] |
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64 | |
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65 | % Img = imread([GeneralDataFolder '/' ImgFolder '/' filename{i} '.jpg'],'jpg'); |
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66 | img = imresize(img, [ Default.SegVertYSize Default.SegHoriXSize]); |
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67 | [seglist]=edgeSegDetection(img,i,0); % Run long edge detection |
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68 | if DisplayFlag |
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69 | DisplaySup(MedSup,300); |
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70 | hold on; drawseg(seglist,300); |
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71 | end |
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72 | |
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73 | % since edge detection using a image size different from the depthmap (55x 305) |
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74 | % so do the following coordinate transform |
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75 | seglist(:,1:2) = Matrix2ImgCo(Default.SegHoriXSize, Default.SegVertYSize, seglist(:,1:2)); |
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76 | seglist(:,3:4) = Matrix2ImgCo(Default.SegHoriXSize, Default.SegVertYSize, seglist(:,3:4)); |
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77 | seglist(:,1:2) = ImgCo2Matrix(Default.HoriXNuDepth, Default.VertYNuDepth, seglist(:,1:2)); |
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78 | seglist(:,3:4) = ImgCo2Matrix(Default.HoriXNuDepth, Default.VertYNuDepth, seglist(:,3:4)); |
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79 | |
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80 | VB = MedSup(:,round(linspace(1, Default.SegHoriXSize, Default.HoriXNuDepth))); |
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81 | HB = MedSup(round(linspace(1, Default.SegVertYSize, Default.VertYNuDepth)),:); |
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82 | |
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83 | if STNeeded |
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84 | % stitch the regular grid to the seglist |
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85 | TextCoor = SupRayAlign( Sup{1}, VB, HB, seglist, SampleIndexXSmall, SampleIndexYSmall, SupSize); |
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86 | % transform the TextCoor back into ImgCoord |
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87 | SampleImCoordYSmall = (( Default.VertYNuDepth+1-TextCoor(:,:,2))-0.5)/Default.VertYNuDepth - Default.Oy_default; |
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88 | SampleImCoordXSmall = ( TextCoor(:,:,1)-0.5)/Default.HoriXNuDepth - Default.Ox_default; |
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89 | % generate the New Ray which is stitched into the long lines |
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90 | Ray = RayImPosition( SampleImCoordYSmall, SampleImCoordXSmall, ... |
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91 | Default.a_default, Default.b_default, ... |
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92 | Default.Ox_default,Default.Oy_default); %[ horiXSizeLowREs VertYSizeLowREs 3] |
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93 | Ray = permute(Ray,[3 1 2]); %[ 3 horiXSizeLowREs VertYSizeLowREs] |
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94 | else |
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95 | Ray = RayOri; |
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96 | end |
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97 | |
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98 | % ===================================END OF STraight Line aligning vertices=========================================== |
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99 | |
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100 | % Multiple segmentation |
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101 | if MultiScaleSup ==1 |
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102 | % MultiScaleSupTable is a table record the group index of sup in higher level of segmentation |
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103 | [MultiScaleSupTable] = MultiScalAnalyze( Sup{1}, permute( cat( 3, Sup{2},... |
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104 | TextSup{1,1}, TextSup{1,2},... |
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105 | TextSup{2,1}, TextSup{2,2},... |
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106 | TextSup{3,1}, TextSup{3,2},... |
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107 | TextSup{4,1}, TextSup{4,2},... |
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108 | TextSup{5,1}, TextSup{5,2},... |
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109 | TextSup{6,1}, TextSup{6,2}),... |
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110 | [3 1 2])); |
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111 | else |
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112 | MultiScaleSupTable = []; |
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113 | end |
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114 | % =================================END OF Multiple Segmentation Occlusion Decision===================================== |
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115 | ReportPlaneParaMRF_Conditioned( Default, Sup{1}, SupOri, full(Predicted.depthMap), zeros( size(Predicted.VarMap)), ... |
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116 | RayOri, Ray, SupNeighborTable, maskSky, maskg, MultiScaleSupTable, []); % not really using the Straight line constrains |
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117 | |
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118 | |
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119 | return; |
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