[37] | 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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