1 | /* |
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2 | % * This code was used in the following articles: |
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3 | % * [1] Learning 3-D Scene Structure from a Single Still Image, |
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4 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, |
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5 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007. |
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6 | % * (best paper) |
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7 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision, |
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8 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, |
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9 | % * In ICCV workshop on Virtual Representations and Modeling |
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10 | % * of Large-scale environments (VRML), 2007. |
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11 | % * [3] 3-D Depth Reconstruction from a Single Still Image, |
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12 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. |
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13 | % * International Journal of Computer Vision (IJCV), Aug 2007. |
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14 | % * [6] Learning Depth from Single Monocular Images, |
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15 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. |
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16 | % * In Neural Information Processing Systems (NIPS) 18, 2005. |
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17 | % * |
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18 | % * These articles are available at: |
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19 | % * http://make3d.stanford.edu/publications |
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20 | % * |
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21 | % * We request that you cite the papers [1], [3] and [6] in any of |
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22 | % * your reports that uses this code. |
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23 | % * Further, if you use the code in image3dstiching/ (multiple image version), |
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24 | % * then please cite [2]. |
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25 | % * |
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26 | % * If you use the code in third_party/, then PLEASE CITE and follow the |
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27 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE. |
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28 | % * |
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29 | % * Finally, this code is for non-commercial use only. For further |
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30 | % * information and to obtain a copy of the license, see |
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31 | % * |
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32 | % * http://make3d.stanford.edu/publications/code |
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33 | % * |
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34 | % * Also, the software distributed under the License is distributed on an |
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35 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either |
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36 | % * express or implied. See the License for the specific language governing |
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37 | % * permissions and limitations under the License. |
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38 | % * |
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39 | % */ |
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40 | |
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41 | //#include <stdio.h> |
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42 | #include <cstdlib> |
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43 | #include <math.h> |
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44 | #include "mex.h" |
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45 | |
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46 | /* Input Arguments Total 4 input argument*/ |
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47 | #define SUP_IN prhs[0] |
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48 | #define VBOUNDARY_IN prhs[1] |
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49 | #define HBOUNDARY_IN prhs[2] |
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50 | #define STRAIGHLINE_IN prhs[3] |
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51 | #define TEXCOORX_IN prhs[4] |
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52 | #define TEXCOORY_IN prhs[5] |
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53 | #define SUPCOUNT_IN prhs[6] |
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54 | |
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55 | /* OutPUT Arguments */ |
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56 | #define TEXCOOR_OUT plhs[0] |
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57 | |
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58 | /* Definition */ |
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59 | #if !defined(MAX) |
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60 | #define MAX(A, B) ((A) > (B) ? (A) : (B)) |
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61 | #endif |
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62 | #if !defined(MIN) |
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63 | #define MIN(A, B) ((A) > (B) ? (B) : (A)) |
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64 | #endif |
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65 | |
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66 | |
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67 | static void SupRayAlign( double Sup[], |
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68 | double VBoundary[], |
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69 | double HBoundary[], |
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70 | double SupCountIn[], |
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71 | double StraightLine[], |
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72 | double TexCoorXOri[], |
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73 | double TexCoorYOri[], |
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74 | double TexCoorOut[], |
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75 | unsigned int VSup, |
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76 | unsigned int HSup, |
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77 | unsigned int VB, |
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78 | unsigned int HB, |
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79 | unsigned int NuStr) |
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80 | { |
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81 | |
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82 | int MaxSup = (VSup*HSup); |
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83 | int *SupMovedBook = new int[MaxSup]; |
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84 | for (int j = 0; j<HSup; j++){ |
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85 | int Shift = j*VSup; |
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86 | for ( int i=0; i<VSup; i++){ |
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87 | SupMovedBook[i+Shift] = 0; // all value set to zero |
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88 | } |
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89 | } |
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90 | |
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91 | /* copy TexCoorOri to TexCoorOut*/ |
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92 | for ( int j = 0; j<HSup; j++){ |
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93 | int Shift = j*VSup; |
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94 | for ( int i=0; i<VSup; i++){ |
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95 | TexCoorOut[i+Shift] = TexCoorXOri[i+Shift]; // all value set to zero |
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96 | // printf("%f\n",TexCoorOut[i+Shift]); |
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97 | TexCoorOut[i+Shift+MaxSup] = TexCoorYOri[i+Shift]; // all value set to zero |
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98 | } |
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99 | } //Checked Coreect copy |
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100 | |
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101 | /* for each straight line stitch two rays*/ |
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102 | for ( int i= 0; i < NuStr; i++){ |
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103 | |
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104 | int HStart, HEnd; |
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105 | double Slope; |
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106 | double X1 = StraightLine[i]; |
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107 | double Y1 = StraightLine[i+NuStr]; |
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108 | double X2 = StraightLine[i+NuStr*2]; |
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109 | double Y2 = StraightLine[i+NuStr*3]; |
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110 | Slope = ( Y1 - Y2)/( X1 -X2); |
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111 | // printf(" %f %f\n", X1, X2); |
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112 | if ( X1 > X2){ |
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113 | HStart = (int) ceil( X2); |
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114 | HEnd = (int) floor( X1); |
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115 | } |
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116 | else{ |
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117 | HEnd = (int) floor( X2); |
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118 | HStart = (int) ceil( X1); |
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119 | } |
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120 | if (HStart > HEnd){ // exlude case when line didn't pass index |
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121 | continue; |
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122 | } |
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123 | if (HStart <1 | HStart > HSup | |
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124 | HEnd <1 | HEnd > HSup){ |
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125 | printf("HEnd %d HStart %d",HEnd,HStart); |
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126 | printf("X1 %f X2 %f\n",X1,X2); |
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127 | } |
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128 | // printf("%d %d \n", HEnd, HStart); |
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129 | |
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130 | /* bilding up Vertical Stitch */ |
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131 | for ( int k = HStart; k<=HEnd; k++){ |
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132 | int kMinusOne = k -1; |
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133 | if (HStart == HEnd){ |
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134 | break; // invalid vertical stitch for vertical line |
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135 | } |
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136 | double TarStitch = Slope*(k -X1) + Y1; |
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137 | int DownStitch = MIN( (int) ceil( TarStitch), VSup) -1; |
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138 | int UpStitch = MAX(DownStitch - 1,1) -1; |
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139 | if (TarStitch > VSup+0.5 | TarStitch <= 0.5){ |
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140 | printf(" VTarStitch = %f k %d X1 %f Y1 %f X2 %f Y2 %f\n", TarStitch,k,X1,Y1,X2,Y2); |
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141 | } |
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142 | |
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143 | if (SupMovedBook[DownStitch + VSup*kMinusOne ] !=1 ){ |
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144 | TexCoorOut[ DownStitch + VSup*kMinusOne + MaxSup ] = TarStitch; |
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145 | SupMovedBook[DownStitch + VSup*kMinusOne ] = 1; |
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146 | // printf(" TexCoorYOri %f\n", TexCoorYOri[ DownStitch + VSup*k ]); |
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147 | } |
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148 | if (SupMovedBook[UpStitch + VSup*kMinusOne ] !=1 ){ |
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149 | TexCoorOut[ UpStitch + VSup*kMinusOne + MaxSup ] = TarStitch; |
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150 | SupMovedBook[UpStitch + VSup*kMinusOne ] = 1; |
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151 | // printf(" TexCoorYOri %f\n", TexCoorYOri[ DownStitch + VSup*k ]); |
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152 | } |
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153 | } |
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154 | |
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155 | |
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156 | int VStart, VEnd; |
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157 | if ( Y1 > Y2){ |
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158 | VStart = (int) ceil( Y2); |
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159 | VEnd = (int) floor( Y1); |
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160 | } |
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161 | else{ |
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162 | VEnd = (int) floor( Y2); |
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163 | VStart = (int) ceil( Y1); |
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164 | } |
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165 | if (VStart > VEnd){ |
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166 | continue; |
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167 | } |
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168 | if (VStart <1 | VStart > VSup | |
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169 | VEnd <1 | VEnd > VSup){ |
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170 | printf("VEnd %d VStart %d",VEnd,VStart); |
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171 | printf("Y1 %f Y2 %f\n",Y1,Y2); |
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172 | } |
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173 | // printf("%d %d \n", VEnd, VStart); |
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174 | /* bilding up Horizontal Stitch */ |
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175 | for ( int k = VStart; k<=VEnd; k++){ |
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176 | if (VStart == VEnd){ |
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177 | break; // invalid vertical stitch for vertical line |
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178 | } |
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179 | double TarStitch = 1/Slope*( k - Y1) + X1; |
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180 | int LeftStitch = MAX( (int) floor( TarStitch),1) - 1; |
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181 | int RightStitch = MIN( LeftStitch + 1, HSup) - 1; |
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182 | if (TarStitch > HSup+0.5 | TarStitch <= 0.5){ |
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183 | printf(" HTarStitch = %f k %d X1 %f Y1 %f X2 %f Y2 %f\n", TarStitch,k,X1,Y1,X2,Y2); |
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184 | } |
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185 | |
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186 | if (SupMovedBook[LeftStitch*VSup + k-1] !=1 ){ |
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187 | TexCoorOut[ LeftStitch*VSup + k-1] = TarStitch; |
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188 | SupMovedBook[LeftStitch*VSup + k-1] = 1; |
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189 | } |
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190 | if (SupMovedBook[RightStitch*VSup + k-1] !=1 ){ |
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191 | TexCoorOut[ RightStitch*VSup + k-1 ] = TarStitch; |
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192 | SupMovedBook[RightStitch*VSup + k-1] = 1; |
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193 | } |
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194 | } |
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195 | |
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196 | } |
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197 | |
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198 | |
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199 | /* Superpixel Vertical boundary stitching */ |
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200 | for (int k = 0; k < HSup; k++){ |
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201 | int Shift = VSup*k; |
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202 | int ShiftVB = VB*k; |
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203 | for ( int i = 0; i < (VSup - 1); i++){ |
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204 | if ( Sup[ i + Shift] != Sup[ i + 1 + Shift ] && |
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205 | ( SupMovedBook[i + Shift ] !=1 || |
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206 | SupMovedBook[i + Shift + 1 ] !=1) |
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207 | ){ |
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208 | int UpVB = (int) ceil( (i +0.5)*((double)VB/(double)VSup)-0.5 ); |
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209 | int DownVB = (int) floor( (i +1.5)*((double)VB/(double)VSup)-0.5); |
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210 | // printf("UpVB %d DownVB %d",UpVB,DownVB); |
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211 | // if ( SupCountIn[i + Shift] > SupCountIn[i + Shift + 1]){ |
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212 | for ( int j = UpVB; j<= DownVB; j++){ |
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213 | // printf("j %d",j); |
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214 | if ( VBoundary[j + ShiftVB] != VBoundary[ j + ShiftVB + 1]){ |
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215 | double TarStitch = (j + 0.5)*((double)VSup/(double)VB) - 0.5 +1; |
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216 | // printf("%d %f",j,TarStitch); |
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217 | if (SupMovedBook[i + Shift ] !=1){ |
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218 | TexCoorOut[ i + Shift + MaxSup ] = TarStitch; |
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219 | SupMovedBook[i + Shift ] = 1; |
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220 | } |
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221 | /* if (SupMovedBook[i + Shift + 1] !=1){ |
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222 | TexCoorOut[ i + Shift + 1 + MaxSup ] = TarStitch; |
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223 | SupMovedBook[i + Shift +1 ] = 1; |
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224 | }*/ |
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225 | } |
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226 | } |
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227 | // } |
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228 | // else{ |
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229 | if ( SupCountIn[i + Shift] > SupCountIn[i + Shift + 2]){ |
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230 | for ( int j = DownVB; j>= UpVB; j--){ |
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231 | // printf("j %d",j); |
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232 | if ( VBoundary[j + ShiftVB] != VBoundary[ j + ShiftVB + 1]){ |
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233 | // printf("j %d",j); |
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234 | double TarStitch = (j + 0.5)*((double)VSup/(double)VB) - 0.5 + 1; |
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235 | // printf("%d %f",j,TarStitch); |
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236 | /* if (SupMovedBook[i + Shift ] !=1){ |
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237 | TexCoorOut[ i + Shift + MaxSup ] = TarStitch; |
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238 | SupMovedBook[i + Shift ] = 1; |
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239 | }*/ |
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240 | if (SupMovedBook[i + Shift + 1 ] !=1){ |
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241 | TexCoorOut[ i + Shift + 1 + MaxSup ] = TarStitch; |
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242 | SupMovedBook[i + Shift +1 ] = 1; |
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243 | } |
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244 | } |
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245 | } |
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246 | } |
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247 | |
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248 | } |
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249 | |
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250 | } |
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251 | } |
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252 | |
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253 | |
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254 | /* Superpixel Horizontal boundary stitching */ |
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255 | for (int k = 0; k < (HSup-2); k++){ |
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256 | int Shift = VSup*k; |
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257 | int ShiftHB = VSup*k; |
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258 | for ( int i = 0; i < (VSup - 1); i++){ |
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259 | if ( Sup[ i + Shift] != Sup[ i + VSup + Shift ] && |
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260 | ( SupMovedBook[i + Shift ] !=1 || |
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261 | SupMovedBook[i + Shift + VSup ] !=1 ) |
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262 | ){ |
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263 | int LeftVB = (int) ceil( (k +0.5)*((double)HB/(double)HSup)-0.5 ); |
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264 | int RightVB = (int) floor( (k +1.5)*((double)HB/(double)HSup)-0.5); |
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265 | // printf("LeftVB %d RightVB %d",LeftVB,RightVB); |
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266 | // if ( SupCountIn[i + Shift] > SupCountIn[i + Shift + VSup]){ |
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267 | for ( int j = LeftVB; j<= RightVB; j++){ |
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268 | if ( HBoundary[j*VSup + i] != HBoundary[ j*VSup + i + VSup]){ |
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269 | double TarStitch = (j + 0.5)*( (double)HSup/(double)HB) - 0.5 +1; |
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270 | // printf("%d %f",j,TarStitch); |
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271 | if (SupMovedBook[i + Shift ] !=1){ |
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272 | TexCoorOut[ i + Shift ] = TarStitch + 1; |
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273 | SupMovedBook[i + Shift ] = 1; |
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274 | } |
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275 | /* if (SupMovedBook[i + Shift +VSup] !=1){ |
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276 | TexCoorOut[ i + Shift + VSup ] = TarStitch + 1; |
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277 | SupMovedBook[i + Shift + VSup ] = 1; |
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278 | }*/ |
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279 | } |
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280 | } |
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281 | // } |
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282 | // else{ |
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283 | if ( SupCountIn[i + Shift] > SupCountIn[i + Shift + VSup*2]){ |
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284 | for ( int j = RightVB; j>= LeftVB; j--){ |
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285 | if ( HBoundary[j*VSup + i] != HBoundary[ j*VSup + i + VSup]){ |
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286 | double TarStitch = (j + 0.5)*((double)HSup/ (double)HB) - 0.5 +1; |
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287 | // printf("%d %f\n",j,TarStitch); |
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288 | /* if (SupMovedBook[i + Shift ] !=1){ |
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289 | TexCoorOut[ i + Shift ] = TarStitch + 1; |
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290 | SupMovedBook[i + Shift ] = 1; |
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291 | }*/ |
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292 | if (SupMovedBook[i + Shift +VSup] !=1){ |
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293 | TexCoorOut[ i + Shift + VSup ] = TarStitch + 1; |
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294 | SupMovedBook[i + Shift + VSup ] = 1; |
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295 | } |
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296 | } |
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297 | } |
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298 | } |
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299 | |
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300 | } |
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301 | |
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302 | } |
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303 | } |
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304 | // printf("HB %d HSup %d",HB,HSup); |
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305 | delete [] SupMovedBook; |
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306 | return; |
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307 | } |
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308 | |
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309 | /* mexFunctin (matlab interface will be removed later) */ |
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310 | void mexFunction( int nlhs, mxArray *plhs[], |
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311 | int nrhs, const mxArray *prhs[] ) |
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312 | { |
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313 | double *Sup; |
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314 | double *VBoundary; |
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315 | double *HBoundary; |
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316 | double *StraightLine; |
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317 | double *TexCoorXOri; |
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318 | double *TexCoorYOri; |
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319 | double *TexCoorOut; |
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320 | double *SupCountIn; |
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321 | |
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322 | unsigned int VSup, HSup, VB, HB, NuStr, v, h; |
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323 | |
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324 | /* Check for proper number of arguments */ |
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325 | |
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326 | if (nrhs != 7) { |
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327 | mexErrMsgTxt("Seven input arguments required."); |
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328 | } else if (nlhs > 1) { |
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329 | mexErrMsgTxt("Too many output arguments."); |
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330 | } |
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331 | |
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332 | /* Check the dimensions of the inputs. */ |
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333 | |
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334 | VSup = mxGetM(SUP_IN); |
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335 | HSup = mxGetN(SUP_IN); |
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336 | if (!mxIsDouble(SUP_IN) || mxIsComplex(SUP_IN) ) { |
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337 | mexErrMsgTxt("The Data Type of Sup shouldn't be complex."); |
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338 | } |
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339 | VB = mxGetM(VBOUNDARY_IN); |
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340 | h = mxGetN(VBOUNDARY_IN); |
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341 | if (!mxIsDouble(VBOUNDARY_IN) || mxIsComplex(VBOUNDARY_IN) || |
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342 | (h != HSup ) ) { |
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343 | mexErrMsgTxt("The Data Type of VBoundary shouldn't be complex."); |
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344 | } |
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345 | v = mxGetM(HBOUNDARY_IN); |
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346 | HB = mxGetN(HBOUNDARY_IN); |
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347 | if (!mxIsDouble(HBOUNDARY_IN) || mxIsComplex(HBOUNDARY_IN) || |
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348 | (v != VSup)) { |
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349 | mexErrMsgTxt("The Data Type of HBoundary shouldn't be complex."); |
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350 | } |
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351 | NuStr = mxGetM(STRAIGHLINE_IN); |
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352 | h = mxGetN(STRAIGHLINE_IN); |
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353 | if (!mxIsDouble(STRAIGHLINE_IN) || mxIsComplex(STRAIGHLINE_IN) || |
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354 | (h != 4) ) { |
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355 | mexErrMsgTxt("StraighLine matrix should always has 4 columns."); |
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356 | } |
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357 | v = mxGetM( TEXCOORX_IN); |
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358 | h = mxGetN( TEXCOORX_IN); |
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359 | if (!mxIsDouble( TEXCOORX_IN) || mxIsComplex( TEXCOORX_IN) || |
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360 | (v != VSup) || (h != HSup)) { |
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361 | mexErrMsgTxt("TextCoorX matrix should is wrong."); |
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362 | } |
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363 | v = mxGetM( TEXCOORY_IN); |
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364 | h = mxGetN( TEXCOORY_IN); |
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365 | if (!mxIsDouble( TEXCOORY_IN) || mxIsComplex( TEXCOORY_IN) || |
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366 | (v != VSup) || (h != HSup) ) { |
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367 | mexErrMsgTxt("TextCoorY matrix should is wrong."); |
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368 | } |
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369 | v = mxGetM( SUPCOUNT_IN); |
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370 | h = mxGetN( SUPCOUNT_IN); |
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371 | if (!mxIsDouble( SUPCOUNT_IN) || mxIsComplex( SUPCOUNT_IN) || |
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372 | (v != VSup) || (h != HSup) ) { |
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373 | mexErrMsgTxt("SUPCOUNT_IN matrix should is wrong."); |
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374 | } |
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375 | |
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376 | /* Create a matrix for the return argument */ |
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377 | int DIM[3]; |
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378 | DIM[0] = VSup; |
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379 | DIM[1] = HSup; |
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380 | DIM[2] = 2; |
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381 | TEXCOOR_OUT = mxCreateNumericArray( 3, DIM, mxDOUBLE_CLASS, mxREAL); |
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382 | TexCoorOut = mxGetPr(TEXCOOR_OUT); |
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383 | |
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384 | /* Assign pointers to the various parameters */ |
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385 | Sup = mxGetPr( SUP_IN); |
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386 | VBoundary = mxGetPr( VBOUNDARY_IN); |
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387 | HBoundary = mxGetPr( HBOUNDARY_IN); |
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388 | StraightLine = mxGetPr( STRAIGHLINE_IN); |
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389 | TexCoorXOri = mxGetPr( TEXCOORX_IN); |
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390 | TexCoorYOri = mxGetPr( TEXCOORY_IN); |
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391 | SupCountIn = mxGetPr( SUPCOUNT_IN); |
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392 | |
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393 | /* Do the actual computations in a subroutine */ |
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394 | SupRayAlign( Sup, VBoundary, HBoundary, SupCountIn, StraightLine, TexCoorXOri, TexCoorYOri, TexCoorOut, VSup, HSup, VB, HB, NuStr); |
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395 | return; |
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396 | |
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397 | } |
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398 | |
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399 | |
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400 | |
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