[37] | 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 []=gen_predictedM_new(learningType,SkyExclude,logScale,LearnNear,... |
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| 40 | LearnAlg,LearnDate,AbsFeaType,AbsFeaDate,HistFeaType,HistFeaDate,... |
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| 41 | FeaBatchNumber,WeiBatchNumber); |
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| 42 | %learningType,logScale,SkyExclude,LearnAlg,AbsFeaType,AbsFeaDate,WeiBatchNumber,logScale,SkyExclude,LearnNear) |
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| 43 | % this function generate the learned depth |
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| 44 | |
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| 45 | % define global variable |
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| 46 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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| 47 | ImgFolder TrainSet VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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| 48 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize; |
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| 49 | |
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| 50 | % load estimated sky |
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| 51 | load([ScratchDataFolder '/data/MaskGSky.mat']); % maskg is the estimated ground maskSky is the estimated sky |
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| 52 | |
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| 53 | % load superpixel Feadture |
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| 54 | load([ScratchDataFolder '/data/FeatureSuperpixel.mat']); % load the feature relate to position and shape of superpixel |
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| 55 | |
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| 56 | % load all the thi in different rows |
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| 57 | thit = []; |
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| 58 | thit_base = []; |
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| 59 | for i = 1:ceil(NuRow_default/WeiBatchSize) % only consider two learning type 'Abs' = Depth 'Fractional' = FractionalRegDepth |
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| 60 | if strcmp(learningType,'Fractional') |
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| 61 | load([ScratchDataFolder '/../learned_parameter/FractionalDepth_' TrainSet '_' LearnAlg ... |
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| 62 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 63 | '_Near' num2str(LearnNear) '_WeiBatNu' num2str(i) ... |
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| 64 | '_' AbsFeaType '_AbsFeaDate' '' '_LearnDate' LearnDate '.mat']); |
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| 65 | % '_' AbsFeaType '_AbsFeaDate' AbsFeaDate '_LearnDate' LearnDate '.mat']); |
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| 66 | else |
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| 67 | load([ScratchDataFolder '/../learned_parameter/Depth_' TrainSet '_' LearnAlg ... |
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| 68 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 69 | '_Near' num2str(LearnNear) '_WeiBatNu' num2str(i) ... |
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| 70 | '_' AbsFeaType '_AbsFeaDate' '' '_LearnDate' LearnDate '.mat']); |
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| 71 | % '_' AbsFeaType '_AbsFeaDate' AbsFeaDate '_LearnDate' LearnDate '.mat']); |
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| 72 | end |
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| 73 | thit = [thit thi]; |
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| 74 | thit_base = [thit_base thi_base]; |
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| 75 | end |
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| 76 | thit = cell2mat(thit); |
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| 77 | thit_base = cell2mat(thit_base); |
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| 78 | |
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| 79 | % mkdir to store the depth in scratch space |
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| 80 | system(['mkdir ' ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 81 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 82 | '_Near' num2str(LearnNear)]); |
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| 83 | system(['mkdir ' ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 84 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 85 | '_Near' num2str(LearnNear) '_baseline']); |
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| 86 | system(['mkdir ' ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 87 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 88 | '_Near' num2str(LearnNear) '_baseline2']); |
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| 89 | %if strcmp(learningType,'Fractional') |
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| 90 | % system(['mkdir ' ScratchDataFolder '/_LearnFDLinearNonSky_']); |
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| 91 | % disp('Fractional') |
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| 92 | %else |
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| 93 | % if logScale==1 |
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| 94 | % if SkyExclude == 1 |
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| 95 | % system(['mkdir ' ScratchDataFolder '/_LearnDLogScaleNonskySep_' learningType]); |
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| 96 | % else |
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| 97 | % system(['mkdir ' ScratchDataFolder '/_LearnDLogScale_' learningType]); |
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| 98 | % end |
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| 99 | % else |
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| 100 | % if SkyExclude ==1 |
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| 101 | % system(['mkdir ' ScratchDataFolder '/_LearnDNonsky_' learningType]); |
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| 102 | % else |
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| 103 | % system(['mkdir ' ScratchDataFolder '/_LearnD_' learningType]); |
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| 104 | % end |
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| 105 | % end |
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| 106 | %end |
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| 107 | |
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| 108 | NuPics = size(filename,2); % number of pictures |
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| 109 | NuFeaBatch = ceil(NuPics/batchSize); |
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| 110 | for j =1:NuFeaBatch |
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| 111 | % load([ScratchDataFolder '/data/feature_sqrt_H4_ray' int2str(j) '.mat']); % 'f' |
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| 112 | load([ScratchDataFolder '/data/feature_Abs_Whole' int2str(j) '_' AbsFeaDate '.mat']); |
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| 113 | % load([ScratchDataFolder '/data/oldFea/feature_Abs_Whole' int2str(j) '_' AbsFeaDate '.mat']); |
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| 114 | for k = 1:size(f,2)%batchSize |
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| 115 | |
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| 116 | %================ |
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| 117 | % load picsinfo just for the horizontal value |
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| 118 | (j-1)*batchSize+k % pics Number |
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| 119 | |
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| 120 | PicsinfoName = strrep(filename{(j-1)*batchSize+k},'img','picsinfo'); |
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| 121 | temp = dir([GeneralDataFolder '/PicsInfo/' PicsinfoName '.mat']); |
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| 122 | if size(temp,1) == 0 |
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| 123 | a = a_default; |
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| 124 | b = b_default; |
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| 125 | Ox = Ox_default; |
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| 126 | Oy = Oy_default; |
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| 127 | Horizon = Horizon_default; |
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| 128 | else |
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| 129 | load([GeneralDataFolder '/PicsInfo/' PicsinfoName '.mat']); |
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| 130 | end |
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| 131 | |
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| 132 | % prepare the thiMatrix |
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| 133 | NuRow = NuRow_default; |
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| 134 | for i = 1:NuRow; |
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| 135 | RowskyBottom = ceil(NuRow/2); |
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| 136 | PatchSkyBottom = ceil(VertYNuDepth*(1-Horizon)); |
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| 137 | if i <= RowskyBottom |
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| 138 | PatchRowRatio = PatchSkyBottom/RowskyBottom; |
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| 139 | RowTop(i) = ceil((i-1)*PatchRowRatio+1); |
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| 140 | RowBottom(i) = ceil(i*PatchRowRatio); |
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| 141 | else |
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| 142 | PatchRowRatio = (VertYNuDepth-PatchSkyBottom)/(NuRow-RowskyBottom); |
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| 143 | RowTop(i) = ceil((i-RowskyBottom-1)*PatchRowRatio+1)+PatchSkyBottom; |
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| 144 | RowBottom(i) = ceil((i-RowskyBottom)*PatchRowRatio)+PatchSkyBottom; |
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| 145 | end |
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| 146 | end |
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| 147 | RowNumber = RowBottom'-RowTop'+1; |
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| 148 | thiRow = []; |
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| 149 | thi_baseRow = []; |
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| 150 | for i = 1:NuRow; |
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| 151 | thiRow = [ thiRow thit(:,i*ones(RowNumber(i),1))]; |
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| 152 | thi_baseRow = [ thi_baseRow thit_base(:,i*ones(RowNumber(i),1))]; |
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| 153 | thi_baseRow2 = thi_baseRow; |
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| 154 | thi_baseRow2(:) = mean(thi_baseRow2); |
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| 155 | end |
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| 156 | %================ |
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| 157 | % FeaVectorPics = genFeaVector(f{k},FeatureSuperpixel{(j-1)*batchSize+k},... |
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| 158 | % 1,VertYNuDepth,1,HoriXNuDepth,(j-1)*batchSize+k); |
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| 159 | FeaVectorPics = genFeaVector(f{k},FeatureSuperpixel{(j-1)*batchSize+k},... |
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| 160 | [1:VertYNuDepth],[1:HoriXNuDepth],(j-1)*batchSize+k,0); |
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| 161 | if logScale ==1 |
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| 162 | depthMap = exp(reshape(sum([ones(size(FeaVectorPics,2),1) FeaVectorPics'].*... |
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| 163 | repmat(thiRow',[HoriXNuDepth 1]),2),VertYNuDepth,[])); |
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| 164 | depthMap_base = exp(reshape(sum([ones(size(FeaVectorPics,2),1) ].*... |
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| 165 | repmat(thi_baseRow',[HoriXNuDepth 1]),2),VertYNuDepth,[])); |
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| 166 | depthMap_base2 = exp(reshape(sum([ones(size(FeaVectorPics,2),1) ].*... |
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| 167 | repmat(thi_baseRow2',[HoriXNuDepth 1]),2),VertYNuDepth,[])); |
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| 168 | else |
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| 169 | size(thiRow) |
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| 170 | size(FeaVectorPics) |
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| 171 | depthMap = reshape(sum([ones(size(FeaVectorPics,2),1) FeaVectorPics'].*... |
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| 172 | repmat(thiRow',[HoriXNuDepth 1]),2),VertYNuDepth,[]); |
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| 173 | depthMap_base = reshape(sum([ones(size(FeaVectorPics,2),1) ].*... |
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| 174 | repmat(thi_baseRow',[HoriXNuDepth 1]),2),VertYNuDepth,[]); |
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| 175 | depthMap_base2 = reshape(sum([ones(size(FeaVectorPics,2),1) ].*... |
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| 176 | repmat(thi_baseRow2',[HoriXNuDepth 1]),2),VertYNuDepth,[]); |
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| 177 | end |
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| 178 | % disp('Differnet from base to whole') |
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| 179 | % mean(mean(depthMap - depthMap_base)) |
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| 180 | %=====================SkyExclude===================== |
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| 181 | if SkyExclude ==1 |
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| 182 | depthMap(maskSky{(j-1)*batchSize+k}) = max(max(depthMap))+30; |
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| 183 | depthMap_base(maskSky{(j-1)*batchSize+k}) = max(max(depthMap_base))+30; |
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| 184 | depthMap_base2(maskSky{(j-1)*batchSize+k}) = max(max(depthMap_base2))+30; |
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| 185 | end |
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| 186 | %==================================================== |
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| 187 | depthfile = strrep(filename{(j-1)*batchSize+k},'img','depth_learned'); % |
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| 188 | % save([ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 189 | % '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 190 | % '_Near' num2str(LearnNear) '_OriRes/' depthfile '.mat'],'depthMap'); |
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| 191 | % save([ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 192 | % '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 193 | % '_Near' num2str(LearnNear) '_baseline_OriRes/' depthfile '.mat'],'depthMap_base'); |
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| 194 | save([ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 195 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 196 | '_Near' num2str(LearnNear) '/' depthfile '.mat'],'depthMap'); |
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| 197 | save([ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 198 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 199 | '_Near' num2str(LearnNear) '_baseline/' depthfile '.mat'],'depthMap_base'); |
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| 200 | save([ScratchDataFolder '/' learningType '_' LearnAlg ... |
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| 201 | '_Nonsky' num2str(SkyExclude) '_Log' num2str(logScale) ... |
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| 202 | '_Near' num2str(LearnNear) '_baseline2/' depthfile '.mat'],'depthMap_base2'); |
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| 203 | % if strcmp(learningType,'Fractional') |
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| 204 | % save([ScratchDataFolder '/_LearnFDLinearNonSky_/' depthfile '.mat'], 'depthMap'); |
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| 205 | % else |
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| 206 | % if logScale == 1 |
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| 207 | % if SkyExclude == 1 |
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| 208 | % save([ScratchDataFolder '/_LearnDLogScaleNonskySep_' learningType '/' depthfile '.mat'],'depthMap'); |
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| 209 | % else |
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| 210 | % save([ScratchDataFolder '/_LearnDLogScale_' learningType '/' depthfile '.mat'],'depthMap'); |
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| 211 | % end |
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| 212 | % else |
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| 213 | % if SkyExclude == 1 |
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| 214 | % save([ScratchDataFolder '/_nLearnDNonsky_' learningType '/' depthfile '.mat'],'depthMap'); |
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| 215 | % else |
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| 216 | % save([ScratchDataFolder '/_LearnD_' learningType '/' depthfile '.mat'],'depthMap'); |
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| 217 | % end |
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| 218 | % end |
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| 219 | % end |
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| 220 | end |
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| 221 | end |
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