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 [GroundLevel] = CalGroundLevel(defaultPara, ImgInfo, Pair) |
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40 | |
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41 | % This function generate the ground level at the first pair of process |
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42 | |
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43 | % =========estimating ground level using ground in imgA and imgB on image A coordinate |
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44 | |
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45 | % GroundLevel is in Global_Scale=================== |
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46 | ImgInfo(1).Model.Depth.FitDepth = ImgInfo(1).Model.Depth.FitDepth*Pair.DepthScale(1); |
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47 | ImgInfo(2).Model.Depth.FitDepth = ImgInfo(2).Model.Depth.FitDepth*Pair.DepthScale(2); |
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48 | % ================================================= |
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49 | % cleaning Groundmask for A |
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50 | RangePercent = 100; |
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51 | [Dy Dx] = size( ImgInfo(1).Model.Depth.FitDepth); |
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52 | APositionAll = im_cr2w_cr(ImgInfo(1).Model.Depth.FitDepth, permute(ImgInfo(1).Model.Ray,[2 3 1])); |
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53 | AY_median = median( APositionAll(2,ImgInfo(1).Model.maskG)); |
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54 | ADistant2Ay_median = (APositionAll(2,ImgInfo(1).Model.maskG) - AY_median); |
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55 | ANumber_YMedian = round( sum(APositionAll(2,ImgInfo(1).Model.maskG)<AY_median)*RangePercent/100); |
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56 | [Avalue AIndexSort] = sort(ADistant2Ay_median); |
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57 | AYmedia_mark = AIndexSort(1:ANumber_YMedian); |
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58 | AGround_mark = zeros(Dy, Dx); |
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59 | temp = zeros(sum(ImgInfo(1).Model.maskG(:)) ,1); |
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60 | temp(AYmedia_mark) = 1; |
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61 | AGround_mark(ImgInfo(1).Model.maskG) = temp; |
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62 | AGround_mark = logical(AGround_mark); |
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63 | % finishing cleaning Groundmask for A |
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64 | |
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65 | % cleaning Groundmask for B |
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66 | BPositionAll = im_cr2w_cr(ImgInfo(2).Model.Depth.FitDepth, permute(ImgInfo(2).Model.Ray,[2 3 1])); |
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67 | BWrlPosition = Pair.R'*BPositionAll(:,:)+repmat( -Pair.R'*Pair.T, 1, size(BPositionAll(:,:),2)); |
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68 | BWrlPosition = reshape(BWrlPosition,3,55,[]); |
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69 | BY_median = median( BWrlPosition(2,ImgInfo(2).Model.maskG)); |
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70 | BDistant2By_median = (BWrlPosition(2,ImgInfo(2).Model.maskG) - BY_median); |
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71 | BNumber_YMedian = round( sum(BWrlPosition(2,ImgInfo(2).Model.maskG)<BY_median)*RangePercent/100); |
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72 | [Bvalue BIndexSort] = sort(BDistant2By_median); |
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73 | BYmedia_mark = BIndexSort(1:BNumber_YMedian); |
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74 | BGround_mark = zeros(Dy, Dx); |
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75 | temp = zeros(sum(ImgInfo(2).Model.maskG(:)) ,1); |
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76 | temp(BYmedia_mark) = 1; |
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77 | BGround_mark(ImgInfo(2).Model.maskG) = temp; |
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78 | BGround_mark = logical( BGround_mark); |
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79 | % finishing cleaning Groundmask for B |
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80 | |
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81 | % find the jointly median of the ground of image AB in Y direction |
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82 | GroundLevel = median([ APositionAll(2,AGround_mark) BWrlPosition(2,BGround_mark)]); % Now Ground is in Img1 Img2 pair scale |
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83 | GroundLevel = GroundLevel/Pair.DepthScale(1); % rescale to the Img1 local scale |
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84 | |
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85 | return; |
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