[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 [countPoints, Position3DCoord, Index, GridIndex]=removeOffsetPoints( TriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 40 | VertYNuDepth, HoriXNuDepth, Position3DCoord, Index, GridIndex, countPoints) |
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| 41 | |
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| 42 | %% check the maximum or second maximum |
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| 43 | switch (max_or_second_max) |
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| 44 | case 1 %% max |
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| 45 | if (max( TriPoints)-min( TriPoints))>Thresh |
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| 46 | %% we bring the points forward and append to |
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| 47 | %% Position3DCoord |
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| 48 | [a1,b1]=min( TriPoints); |
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| 49 | [a2,b2]=max( TriPoints); |
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| 50 | newPosition3D = permute(ray(indexArray(1,(num-1)*3+b2),indexArray(2,(num-1)*3+b2),:),[3 2 1])*depth(indexArray(1,(num-1)*3+b1),indexArray(2,(num-1)*3+b1)); |
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| 51 | Position3DCoord(:,countPoints)=newPosition3D; |
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| 52 | Position3DCoord(3,countPoints) = -Position3DCoord(3,countPoints); |
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| 53 | Index((num-1)*3+b2)=countPoints; |
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| 54 | GridIndex((num-1)*4+b2)=countPoints; |
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| 55 | if b2==1 |
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| 56 | GridIndex(4*num)=countPoints; |
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| 57 | end |
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| 58 | countPoints=countPoints+1; |
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| 59 | end |
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| 60 | case 2 %% second max |
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| 61 | sortedVec=sort(TriPoints); |
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| 62 | if (sortedVec(2)-sortedVec(1))>Thresh |
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| 63 | %% we bring the points forward and append to |
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| 64 | %% Position3DCoord |
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| 65 | [a1,b1]=min( TriPoints); |
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| 66 | [a2,b2]=max( TriPoints); |
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| 67 | for loopVar=1:3 |
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| 68 | if (loopVar~=b1)&&(loopVar~=b2) |
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| 69 | b3=loopVar; |
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| 70 | end |
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| 71 | end |
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| 72 | newPosition3D = permute(ray(indexArray(1,(num-1)*3+b3),indexArray(2,(num-1)*3+b3),:),[3 2 1])*depth(indexArray(1,(num-1)*3+b1),indexArray(2,(num-1)*3+b1)); |
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| 73 | Position3DCoord(:,countPoints)=newPosition3D; |
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| 74 | Position3DCoord(3,countPoints) = -Position3DCoord(3,countPoints); |
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| 75 | Index((num-1)*3+b3)=countPoints; |
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| 76 | GridIndex((num-1)*4+b3)=countPoints; |
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| 77 | if b3==1 |
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| 78 | GridIndex(4*num)=countPoints; |
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| 79 | end |
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| 80 | countPoints=countPoints+1; |
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| 81 | end |
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| 82 | end |
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