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 [] = GiveDepthRayGenVrml( depthFolder,learned); |
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40 | |
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41 | % selected image with low error as train data set |
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42 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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43 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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44 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName; |
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45 | |
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46 | load([ScratchDataFolder '/data/MaskGSky.mat']); |
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47 | file = dir([ScratchDataFolder '/' depthFolder]) |
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48 | NuPics = size(file,1); |
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49 | for i = 1:NuPics |
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50 | if ~any(strfind(file(i).name,'.mat')) |
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51 | continue; |
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52 | end |
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53 | i |
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54 | PicsinfoName = strrep(filename{i},'img','picsinfo'); |
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55 | temp = dir([GeneralDataFolder '/PicsInfo/' PicsinfoName '.mat']); |
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56 | if size(temp,1) == 0 |
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57 | a = a_default; |
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58 | b = b_default; |
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59 | Ox = Ox_default; |
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60 | Oy = Oy_default; |
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61 | Horizon = Horizon_default; |
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62 | else |
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63 | load([GeneralDataFolder '/PicsInfo/' PicsinfoName '.mat']); |
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64 | end |
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65 | |
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66 | if learned |
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67 | depthfile = strrep(filename{i},'img','depth_learned'); % the depth filename |
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68 | load([ScratchDataFolder '/' depthFolder '/' depthfile '.mat']); |
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69 | depthMap(depthMap <0) =100; |
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70 | else |
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71 | depthfile = strrep(filename{i},'img','depth_sph_corr'); % the depth filename |
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72 | load([ScratchDataFolder '/Gridlaserdata/' depthfile '.mat']); |
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73 | LaserDepth = Position3DGrid(:,:,4); |
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74 | clear Position3DGrid; |
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75 | end |
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76 | |
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77 | % initalize the ray |
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78 | RayPorjectImgMapY = repmat((1:VertYNuDepth)',[1 HoriXNuDepth]); |
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79 | RayPorjectImgMapX = repmat((1:HoriXNuDepth),[VertYNuDepth 1]); |
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80 | RayPorjectImgMapY = ((VertYNuDepth+1-RayPorjectImgMapY)-0.5)/VertYNuDepth - Oy; |
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81 | RayPorjectImgMapX = (RayPorjectImgMapX-0.5)/HoriXNuDepth - Ox; |
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82 | Ray = RayImPosition(RayPorjectImgMapY,RayPorjectImgMapX,a,b,Ox,Oy); %[ horiXSizeLowREs VertYSizeLowREs 3] |
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83 | Ray = permute(Ray,[3 1 2]); |
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84 | [Position3D] = im_cr2w_cr(depthMap,permute(Ray,[2 3 1])); |
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85 | [VrmlName] = vrml_test_faceset_goodSkyBoundary( filename{i}, Position3D, depthMap, permute(Ray,[2 3 1]), depthFolder, ... |
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86 | [],[], 0, maskSky{i}, maskg{i}, 1, 0, a_default, b_default, Ox_default, Oy_default); |
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87 | system(['gzip -9 -c ' ScratchDataFolder '/vrml/' VrmlName ' > ' ScratchDataFolder '/vrml/' VrmlName '.gz']); |
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88 | delete([ScratchDataFolder '/vrml/' VrmlName]); |
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89 | end |
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