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 [Bp, OccluMap, BoundaryLaserOccluHori, BoundaryLaserOccluVert] = ... |
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40 | LaserDetectOcc2Bp( LaserDepth, BpWidthV, BpWidthH, BoundaryPVert, BoundaryPHori, Hash2Ind, dist) |
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41 | |
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42 | % This function assign 1 to the bounday labeled as occlusion with a probability distribution, |
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43 | % otherwise -1; |
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44 | if nargin <7 |
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45 | dist = 'uniform'; |
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46 | end |
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47 | |
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48 | % inital parameters |
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49 | ThreVert = 0.5; |
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50 | ThreHori = 0.5; |
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51 | ThreFar = 15; |
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52 | SE = strel('rectangle',[BpWidthV BpWidthH]); |
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53 | |
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54 | |
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55 | DiffDepthVert = abs(conv2(LaserDepth,[1; -1],'valid')); |
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56 | DiffDepthHori = abs(conv2(LaserDepth,[1 -1],'valid')); |
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57 | FraDiffDepthVert = DiffDepthVert./ sqrt(LaserDepth(1:(end-1),:) .* LaserDepth(2:end,:) ); |
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58 | %FraDiffDepthVert = DiffDepthVert./ min(LaserDepth(1:(end-1),:) , LaserDepth(2:end,:) ); |
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59 | OccFraDiffDepthVert = FraDiffDepthVert > ThreVert; |
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60 | OccFraDiffDepthVert(LaserDepth(1:(end-1),:) > ThreFar & LaserDepth(2:end,:) > ThreFar) = 0; |
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61 | FraDiffDepthHori = DiffDepthHori./ sqrt( LaserDepth(:,1:(end-1)) .* LaserDepth(:,2:end) ); |
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62 | %FraDiffDepthHori = DiffDepthHori./ min( LaserDepth(:,1:(end-1)) , LaserDepth(:,2:end) ); |
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63 | OccFraDiffDepthHori = FraDiffDepthHori > ThreHori; |
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64 | OccFraDiffDepthHori(LaserDepth(:,1:(end-1)) > ThreFar & LaserDepth(:,2:end) > ThreFar) = 0; |
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65 | |
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66 | % form the OccluMap and BoundaryLaserOccluHori, BoundaryLaserOccluVert |
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67 | BoundaryLaserOccluHori = imdilate(OccFraDiffDepthVert, SE).*(BoundaryPHori ~=0 ); |
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68 | BoundaryLaserOccluVert = imdilate(OccFraDiffDepthHori, SE).*(BoundaryPVert ~=0 ); |
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69 | OccluMap = zeros(size(LaserDepth)); |
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70 | if ~strcmp(dist,'uniform') |
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71 | %assume norm dis |
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72 | |
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73 | end |
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74 | OccluMap(1:(end-1),:) = BoundaryLaserOccluHori; |
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75 | OccluMap(2:(end),:) = BoundaryLaserOccluHori; |
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76 | OccluMap(:,1:(end-1)) = BoundaryLaserOccluVert; |
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77 | OccluMap(:,2:(end)) = BoundaryLaserOccluVert; |
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78 | |
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79 | % specifiy the label in Bp |
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80 | Boundary = setdiff(unique([BoundaryPVert( (BoundaryLaserOccluVert ~= 0)); BoundaryPHori( (BoundaryLaserOccluHori ~= 0))]), 0); |
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81 | Bp = -ones( sum(Hash2Ind ~=0),1); |
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82 | Bp(Hash2Ind(Boundary)) = 1; |
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83 | % Bp = -ones( sum(Hash2Ind ~=0),1); |
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84 | % for i = Boundary' |
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85 | % maskH = BoundaryPVert == i; |
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86 | % maskV = BoundaryPHori == i; |
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87 | % % Bp(Hash2Ind(i)) = mean( [BoundaryLaserOccluVert(maskV); BoundaryLaserOccluHori(maskH) ]); |
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88 | % Bp(Hash2Ind(i)) = any( [BoundaryLaserOccluVert(maskV); BoundaryLaserOccluHori(maskH) ] == 1); |
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89 | % end |
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90 | |
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91 | return; |
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