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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