% * This code was used in the following articles: % * [1] Learning 3-D Scene Structure from a Single Still Image, % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007. % * (best paper) % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision, % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, % * In ICCV workshop on Virtual Representations and Modeling % * of Large-scale environments (VRML), 2007. % * [3] 3-D Depth Reconstruction from a Single Still Image, % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. % * International Journal of Computer Vision (IJCV), Aug 2007. % * [6] Learning Depth from Single Monocular Images, % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. % * In Neural Information Processing Systems (NIPS) 18, 2005. % * % * These articles are available at: % * http://make3d.stanford.edu/publications % * % * We request that you cite the papers [1], [3] and [6] in any of % * your reports that uses this code. % * Further, if you use the code in image3dstiching/ (multiple image version), % * then please cite [2]. % * % * If you use the code in third_party/, then PLEASE CITE and follow the % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE. % * % * Finally, this code is for non-commercial use only. For further % * information and to obtain a copy of the license, see % * % * http://make3d.stanford.edu/publications/code % * % * Also, the software distributed under the License is distributed on an % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either % * express or implied. See the License for the specific language governing % * permissions and limitations under the License. % * % */ function [] = RunCompleteMRF_efficient( Default, img, Predicted, MedSup, Sup, SupOri, TextSup,... SupNeighborTable, SupSize, maskSky, maskg); %function [] = RunCompleteMRF(BatchNu,LearnType,LearnSkyEx,LearnLog,LearnNear,... % LearnAlg,baseline,step); % This Function prepare the Two things for the ReportPlaneParaMRF % 1) align the superpixel onto the straight line boundary % and the superpixel bounary % 2) Using Multiple segmentation hurestic to determine occlusion % (right now it works sucks) % Stup Flags MultiScaleSup = true; % If yes, analyze Multiple segmentation for relation weights STNeeded = true; % If yes, align the ray to the bundary of the superpixels DisplayFlag = Default.Flag.DisplayFlag; % set to display or not % initalize the RayOri and Ray (this is after stitching) SampleIndexYSmall = repmat((1:Default.VertYNuDepth)',[1 Default.HoriXNuDepth]); SampleIndexXSmall = repmat((1:Default.HoriXNuDepth),[Default.VertYNuDepth 1]); SampleImCoordYSmall = (( Default.VertYNuDepth+1-SampleIndexYSmall)-0.5)/Default.VertYNuDepth - Default.Oy_default; SampleImCoordXSmall = ( SampleIndexXSmall-0.5)/Default.HoriXNuDepth - Default.Ox_default; RayOri = RayImPosition( SampleImCoordYSmall, SampleImCoordXSmall,... Default.a_default, Default.b_default, ... Default.Ox_default,Default.Oy_default); %[ horiXSizeLowREs VertYSizeLowREs 3] RayOri = permute(RayOri,[3 1 2]); %[ 3 horiXSizeLowREs VertYSizeLowREs] % Img = imread([GeneralDataFolder '/' ImgFolder '/' filename{i} '.jpg'],'jpg'); img = imresize(img, [ Default.SegVertYSize Default.SegHoriXSize]); [seglist]=edgeSegDetection(img,i,0); % Run long edge detection if DisplayFlag DisplaySup(MedSup,300); hold on; drawseg(seglist,300); end % since edge detection using a image size different from the depthmap (55x 305) % so do the following coordinate transform seglist(:,1:2) = Matrix2ImgCo(Default.SegHoriXSize, Default.SegVertYSize, seglist(:,1:2)); seglist(:,3:4) = Matrix2ImgCo(Default.SegHoriXSize, Default.SegVertYSize, seglist(:,3:4)); seglist(:,1:2) = ImgCo2Matrix(Default.HoriXNuDepth, Default.VertYNuDepth, seglist(:,1:2)); seglist(:,3:4) = ImgCo2Matrix(Default.HoriXNuDepth, Default.VertYNuDepth, seglist(:,3:4)); VB = MedSup(:,round(linspace(1, Default.SegHoriXSize, Default.HoriXNuDepth))); HB = MedSup(round(linspace(1, Default.SegVertYSize, Default.VertYNuDepth)),:); if STNeeded % stitch the regular grid to the seglist TextCoor = SupRayAlign( Sup{1}, VB, HB, seglist, SampleIndexXSmall, SampleIndexYSmall, SupSize); % transform the TextCoor back into ImgCoord SampleImCoordYSmall = (( Default.VertYNuDepth+1-TextCoor(:,:,2))-0.5)/Default.VertYNuDepth - Default.Oy_default; SampleImCoordXSmall = ( TextCoor(:,:,1)-0.5)/Default.HoriXNuDepth - Default.Ox_default; % generate the New Ray which is stitched into the long lines Ray = RayImPosition( SampleImCoordYSmall, SampleImCoordXSmall, ... Default.a_default, Default.b_default, ... Default.Ox_default,Default.Oy_default); %[ horiXSizeLowREs VertYSizeLowREs 3] Ray = permute(Ray,[3 1 2]); %[ 3 horiXSizeLowREs VertYSizeLowREs] else Ray = RayOri; end % ===================================END OF STraight Line aligning vertices=========================================== % Multiple segmentation if MultiScaleSup ==1 % MultiScaleSupTable is a table record the group index of sup in higher level of segmentation [MultiScaleSupTable] = MultiScalAnalyze( Sup{1}, permute( cat( 3, Sup{2},... TextSup{1,1}, TextSup{1,2},... TextSup{2,1}, TextSup{2,2},... TextSup{3,1}, TextSup{3,2},... TextSup{4,1}, TextSup{4,2},... TextSup{5,1}, TextSup{5,2},... TextSup{6,1}, TextSup{6,2}),... [3 1 2])); else MultiScaleSupTable = []; end % =================================END OF Multiple Segmentation Occlusion Decision===================================== ReportPlaneParaMRF_Conditioned( Default, Sup{1}, SupOri, full(Predicted.depthMap), zeros( size(Predicted.VarMap)), ... RayOri, Ray, SupNeighborTable, maskSky, maskg, MultiScaleSupTable, []); % not really using the Straight line constrains return;