source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/LearningCode/Rendering/Oldversion/vrml_test_faceset_grid_nojump.m @ 37

Last change on this file since 37 was 37, checked in by (none), 14 years ago

Added original make3d
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1% *  This code was used in the following articles:
2% *  [1] Learning 3-D Scene Structure from a Single Still Image,
3% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng,
4% *      In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
5% *      (best paper)
6% *  [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
7% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng,
8% *      In ICCV workshop on Virtual Representations and Modeling
9% *      of Large-scale environments (VRML), 2007.
10% *  [3] 3-D Depth Reconstruction from a Single Still Image,
11% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
12% *      International Journal of Computer Vision (IJCV), Aug 2007.
13% *  [6] Learning Depth from Single Monocular Images,
14% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
15% *      In Neural Information Processing Systems (NIPS) 18, 2005.
16% *
17% *  These articles are available at:
18% *  http://make3d.stanford.edu/publications
19% *
20% *  We request that you cite the papers [1], [3] and [6] in any of
21% *  your reports that uses this code.
22% *  Further, if you use the code in image3dstiching/ (multiple image version),
23% *  then please cite [2].
24% * 
25% *  If you use the code in third_party/, then PLEASE CITE and follow the
26% *  LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
27% *
28% *  Finally, this code is for non-commercial use only.  For further
29% *  information and to obtain a copy of the license, see
30% *
31% *  http://make3d.stanford.edu/publications/code
32% *
33% *  Also, the software distributed under the License is distributed on an
34% * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
35% *  express or implied.   See the License for the specific language governing
36% *  permissions and limitations under the License.
37% *
38% */
39function [vrml_filename] = vrml_test_faceset_triangle(filename,Position3D,depth,ray,DepthDirectory,HBrokeBook,VBrokeBook,Grid,maskSky,Np,Sep,a,b,Ox,Oy,Thresh)
40%function [] = vrml_test_faceset_triangle(filename,PlaneParameterTure,LowResImgIndexSuperpixelSep,DepthDirectory,a,b,Ox,Oy)
41% this function play with the VRML
42% using only FaceSet
43% % global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory...
44% %     ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default...
45% %     Horizon_default batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize;
46
47if nargin < 12
48    a = 0.70783777 %0.129; % horizontal physical size of image plane normalized to focal length (in meter)
49    b = 0.946584169%0.085; % vertical physical size of image plane normalized to focal length (in meter)
50    Ox = -0.010727086; % camera origin offset from the image center in horizontal direction
51    Oy = -0.0111130176; % camera origin offset from the image center in vertical direction
52elseif nargin < 13
53    b = a;
54    Ox = -0.010727086; % camera origin offset from the image center in horizontal direction
55    Oy = -0.0111130176; % camera origin offset from the image center in vertical direction
56elseif nargin < 14
57    Ox = -0.010727086; % camera origin offset from the image center in horizontal direction
58    Oy = -0.0111130176; % camera origin offset from the image center in vertical direction
59elseif nargin < 15
60    Oy = Ox;
61end
62
63% define global variable
64global GeneralDataFolder ScratchDataFolder LocalFolder;
65
66vrml_filename = ['tri_' filename '_' 'flipTri4.wrl'];
67%LowResImgIndexSuperpixelSepTemp = LowResImgIndexSuperpixelSep;
68%[VertYSize HoriXSize] = size(LowResImgIndexSuperpixelSepTemp);
69[dum VertYSize HoriXSize] = size(Position3D);
70%nu_patch = VertYSize* HoriXSize;
71
72Position3DCoord = reshape(Position3D,3,VertYSize*HoriXSize);   
73Position3DCoord(3,:) = -Position3DCoord(3,:); % important to make z direction negative
74
75table = reshape(0:(VertYSize*HoriXSize-1),VertYSize,[]);
76Position3DCoordOrdeerIndex = [];
77GridPosition3DCoordOrdeerIndex = [];
78
79countPoints=length(Position3DCoord)+1;
80unassignedTargets = 0;
81for i = 1:VertYSize-1
82    for j = 1:HoriXSize-1
83        % check which diagnoal to render
84        target = [HBrokeBook(i,j) VBrokeBook(i,j+1) HBrokeBook(i+1,j) VBrokeBook(i,j)];
85        clear Index;
86        clear GridIndex;
87        clear indexArray;
88       
89        if (all(target == [0 0 0 0]) || all(target == [0 0 1 1]) || all(target == [1 1 0 0]))
90            Index = [ table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i+1,j+1) table(i,j+1)];
91            GridIndex = [table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i,j) table(i+1,j+1) table(i,j+1) table(i,j)];
92            indexArray = [i i+1 i+1 i i+1 i; ...
93                          j j   j+1 j j+1 j+1];
94        elseif (all(target == [1 0 0 1]) || all(target == [0 1 1 0]))
95            Index = [ table(i,j) table(i+1,j) table(i,j+1) table(i+1,j) table(i+1,j+1) table(i,j+1)];
96            GridIndex = [ table(i,j) table(i+1,j) table(i,j+1) table(i,j) table(i+1,j) table(i+1,j+1) table(i,j+1) table(i+1,j)];
97            indexArray = [i i+1 i   i+1 i+1 i; ...
98                          j j   j+1 j   j+1 j+1];
99        else
100            unassignedTargets=unassignedTargets+1;
101            Index = [ table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i+1,j+1) table(i,j+1)];
102            GridIndex = [table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i,j) table(i+1,j+1) table(i,j+1) table(i,j)];
103            indexArray = [i i+1 i+1 i i+1 i; ...
104                          j j   j+1 j j+1 j+1];
105        end
106
107        % Sky Exclude
108        if maskSky(i,j)==1
109        %% check if the neighbors are sky as well, for Np length
110            if (j+(Np-1))>HoriXSize
111                jL=HoriXSize;
112            else
113                jL=j+(Np-1);
114            end
115            if (i+(Np-1))>VertYSize
116                iL=VertYSize;
117            else
118                iL=i+(Np-1);
119            end
120            if ((sum(xor(maskSky(i,j:jL),ones(1,length(maskSky(i,j:jL)))))>0)||...
121                    sum(xor(maskSky(i:iL,j),ones(length(maskSky(i:iL,j)),1)))>0)
122                %% also update the depth values for all the 6 points by
123                %% changing them to a value of any non-sky point in the
124                %% vicinity of Np down and to the right
125
126                %% so first we find the point non-sky point which made us
127                %% include this sky point
128                iRep=i;
129                indexVec=j:jL;
130                nonSkyPoints=find(maskSky(i,indexVec)==0);
131                if length(nonSkyPoints)>0
132                    jRep=indexVec(nonSkyPoints(1));
133                else
134                    jRep=j;
135                    indexVec=i:iL;
136                    nonSkyPoints=find(maskSky(indexVec,j)==0);
137                    iRep=indexVec(nonSkyPoints(1));
138                end
139                iChoose=iRep;
140                jChoose=jRep;
141                firstTriPoints=[];
142                num=1;
143                [firstTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,firstTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose);               
144                max_or_second_max=1;
145                [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
146                    VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);               
147                max_or_second_max=2;
148                [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
149                    VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);               
150%                 
151                secondTriPoints=[];
152                num=2;
153                [secondTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,secondTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose);               
154                max_or_second_max=1;
155                [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
156                    VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);               
157                max_or_second_max=2;
158                [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
159                    VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);
160%               
161                        Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index];
162                        GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex];
163%                 if ((max(Index(1:3))<16775)&&(max(GridIndex(1:4))<16775))
164%                     Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(1:3)];
165%                     GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(1:4)];
166%                 end
167%                 if ((max(Index(4:6))<16775)&&(max(GridIndex(5:8))<16775))
168%                     Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(4:6)];
169%                     GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(5:8)];
170%                 end
171            end
172        else
173            iChoose=i;
174            jChoose=j;
175            firstTriPoints=[];
176            num=1;
177            [firstTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,firstTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose);               
178            max_or_second_max=1;
179            [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
180                VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);               
181            max_or_second_max=2;
182            [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
183                VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);               
184%             
185            secondTriPoints=[];
186            num=2;
187           [secondTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,secondTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose);               
188            max_or_second_max=1;
189            [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
190                VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);               
191            max_or_second_max=2;
192            [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ...
193                VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints);
194%
195            Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index];
196            GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex];
197
198%             if ((max(Index(1:3))<16775)&&(max(GridIndex(1:4))<16775))
199%                 Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(1:3)];
200%                 GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(1:4)];
201%             end
202%             if ((max(Index(4:6))<16775)&&(max(GridIndex(5:8))<16775))
203%                 Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(4:6)];
204%                 GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(5:8)];
205%             end
206        end
207%         Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index];
208%         GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex];
209    end
210end
211
212% calculate PositionTexCoord
213PositionTex = permute(ray(:,:,1:2)./repmat(cat(3,a,b),[VertYSize HoriXSize 1])+0.5,[3 1 2]);
214PositionTexCoord = PositionTex;   
215
216Xmin=min(Position3DCoord(1,:))-Sep;
217Xmax=max(Position3DCoord(1,:))+Sep;
218Ymin=min(Position3DCoord(2,:))-Sep;
219Ymax=max(Position3DCoord(2,:))+Sep;
220Zmin=min(Position3DCoord(3,:))-Sep;
221Zmax=min(Position3DCoord(3,:))+Sep;
222%% the eight corners of the cube would then be
223cc=[];
224cc = [cc [Xmin Ymin Zmin]']; %% 1
225cc = [cc [Xmax Ymin Zmin]']; %% 2
226cc = [cc [Xmin Ymin Zmax]']; %% 3
227cc = [cc [Xmax Ymin Zmax]']; %% 4
228
229cc = [cc [Xmin Ymax Zmin]']; %% 5
230cc = [cc [Xmax Ymax Zmin]']; %% 6
231cc = [cc [Xmin Ymax Zmax]']; %% 7
232cc = [cc [Xmax Ymax Zmax]']; %% 8
233
234% wallIndices = [front_wall right_wall back_wall left_wall];
235wallIndices = [2 4 8 6 4 8 7 3 3 7 5 1]-1;
236
237% inital header
238disp('writing vrml..');
239fp = fopen([ScratchDataFolder '/vrml/' vrml_filename],'w');
240
241fprintf(fp, '#VRML V2.0 utf8\n');
242
243% add navigate_info
244fprintf(fp, 'NavigationInfo {\n');
245fprintf(fp, '  headlight TRUE\n');
246fprintf(fp, '  type ["FLY", "ANY"]}\n\n');
247
248% add viewpoint
249fprintf(fp, 'Viewpoint {\n');
250fprintf(fp, '    position        0 0.0 0.0\n');
251fprintf(fp, '    orientation     0 0 0 0\n');
252fprintf(fp, '    fieldOfView     0.7\n');
253fprintf(fp, '    description "Original"}\n');
254
255% add Shape for texture faceset
256fprintf(fp, 'Shape{\n');
257fprintf(fp, '  appearance Appearance {\n');
258fprintf(fp, ['   texture ImageTexture { url "./image/' filename '.jpg' '" }\n']);
259fprintf(fp, '  }\n');
260fprintf(fp, '  geometry IndexedFaceSet {\n');
261fprintf(fp, '    coord Coordinate {\n');
262
263% insert coordinate in 3d
264% =======================
265fprintf(fp, '      point [ \n');
266fprintf(fp, '        %.2f %.2f %.2f,\n',Position3DCoord);
267fprintf(fp, '      ]\n');
268fprintf(fp, '    }\n');
269
270% insert coordinate index in 3d
271fprintf(fp, '    coordIndex [\n');
272fprintf(fp, '              %g %g %g -1,\n',Position3DCoordOrdeerIndex);
273fprintf(fp, '    ]\n');
274
275% insert texture coordinate
276fprintf(fp, '    texCoord TextureCoordinate {\n');
277fprintf(fp, '      point [\n');
278fprintf(fp, '              %.4g %.4g,\n',PositionTexCoord);
279fprintf(fp, '        ]\n');
280fprintf(fp, '    }\n');
281fprintf(fp, '  }\n');
282fprintf(fp, '}\n');
283% %% Now we make the wall
284%
285% % add Shape for texture faceset
286% fprintf(fp, 'Shape{\n');
287% fprintf(fp, '  appearance Appearance {\n');
288% %% one can change the sky color here, at the moment its a shade of blue
289% %% given as [0.31 0.54 0.76]
290% fprintf(fp, '  material Material { emissiveColor 0.31 0.54 0.76 }\n');
291% fprintf(fp, '  }\n');
292% fprintf(fp, '  geometry IndexedFaceSet {\n');
293% fprintf(fp, '    coord Coordinate {\n');
294%
295% % insert coordinate in 3d
296% % =======================
297% fprintf(fp, '      point [ \n');
298% fprintf(fp, '        %.2f %.2f %.2f,\n',cc);
299% fprintf(fp, '      ]\n');
300% fprintf(fp, '    }\n');
301%
302% % insert coordinate index in 3d
303% fprintf(fp, '    coordIndex [\n');
304% %Position3DCoordOrdeerIndex = 0:(size(Position3DCoord,2)-1);
305% fprintf(fp, '              %g %g %g %g -1,\n',wallIndices);
306% fprintf(fp, '    ]\n');
307%
308% % ==================================
309% fprintf(fp, '  }\n');
310% fprintf(fp, '}\n');
311
312if Grid == 1
313% ========================================
314fprintf(fp, 'Shape{\n');
315fprintf(fp, '  appearance Appearance { material Material {emissiveColor 1 0 0  }}\n');
316fprintf(fp, '    geometry IndexedLineSet {\n');
317fprintf(fp, '    coord Coordinate {\n');
318fprintf(fp, '      point [ \n');
319fprintf(fp, '        %.2f %.2f %.2f,\n',Position3DCoord);
320fprintf(fp, '      ]\n');
321fprintf(fp, '    }\n');
322fprintf(fp, '    coordIndex [\n');
323fprintf(fp, '              %g %g %g %g -1,\n',GridPosition3DCoordOrdeerIndex);
324fprintf(fp, '    ]\n');
325%fprintf(fp, '   color Color { color [1 0 0, 0 1 0, 0 0 1]}\n');
326%fprintf(fp, '   colorIndex [0 0 0 0 0 ]\n');
327fprintf(fp, '    colorPerVertex FALSE\n');
328fprintf(fp, '    }\n');
329%==================================
330fprintf(fp, '  }\n');
331fprintf(fp, '}\n');
332end
333% close the file
334fclose(fp);
335
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