[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 SingleImgReInference(defaultPara, model, Img, GroundLevel, Wrlname, R, T, Scale,PostFixStr) |
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| 40 | |
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| 41 | % This funciton run the inference by loading all constrain in the model variable |
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| 42 | |
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| 43 | % Fix parameters |
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| 44 | % ==== General Parameters =============== |
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| 45 | Default.RenderFlag = defaultPara.RenderFlag; |
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| 46 | [Default.VertYNuDepth Default.HoriXNuDepth] = size(model.Depth.FitDepth); |
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| 47 | Default.fy = 2400.2091651084; |
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| 48 | Default.fx = 2407.3312729885838; |
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| 49 | Default.Ox = 1110.7122391785729;%2272/2; % |
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| 50 | Default.Oy = 833.72104535435108;%1704/2; % |
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| 51 | Default.a_default = 2272/Default.fx; %0.70783777; %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
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| 52 | Default.b_default = 1704/Default.fy; %0.946584169;%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
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| 53 | Default.Ox_default = 1-Default.Ox/2272;%0.489272914; % camera origin offset from the image center in horizontal direction |
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| 54 | Default.Oy_default = 1-Default.Oy/1704;%0.488886982; % camera origin offset from the image center in vertical direction |
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| 55 | Default.MinTriEffectPercent = 10; % 5 % higher the CoPlaner term % change to 10 make sure tri area are flat not jaggy |
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| 56 | Default.FarestTriDist = 1;%0.1; % unit in pixel |
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| 57 | |
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| 58 | % TriCountSupThre depends on the total number of model.Constrain.RayMatche |
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| 59 | Default.TriCountSupThre = size(model.Constrain.RayMatche,1)*0.1; |
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| 60 | % ========================================== First Model |
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| 61 | |
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| 62 | % highly changable |
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| 63 | Default.OutPutFolder = [ defaultPara.OutPutFolder Img '/']; |
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| 64 | Default.ScratchFolder = Default.OutPutFolder; |
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| 65 | Default.Wrlname{1} = [Wrlname '_' Img '_' PostFixStr]; |
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| 66 | Default.Flag.AfterInferenceStorage = 0; |
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| 67 | |
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| 68 | AappendOpt = 0; % not append since generate seperate .wrl files |
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| 69 | |
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| 70 | % simply constrain of the PairList matches |
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| 71 | Aconstrain.RayMatched = model.Constrain.RayMatche; |
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| 72 | Aconstrain.Depth_modified = model.Constrain.Depth_modified; |
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| 73 | Aconstrain.SupMatched = model.Constrain.SupMatched; |
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| 74 | |
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| 75 | % new constraian of the occlusion Matches |
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| 76 | Aconstrain.OccluRayMatched = cell2mat(model.ConstrainOccluMatch.RayMatche(:)); |
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| 77 | Aconstrain.OccluDepth_modified = cell2mat(model.ConstrainOccluMatch.Depth_modified(:)'); |
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| 78 | Aconstrain.OccluSupMatched = cell2mat(model.ConstrainOccluMatch.SupMatched(:)); |
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| 79 | |
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| 80 | ASup = model.Sup; |
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| 81 | ASupOri = ASup; |
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| 82 | AdepthMap = model.Depth.RawDepth; % or RawDepth |
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| 83 | ARayOri = model.Ray; |
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| 84 | ARayAll = ARayOri; |
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| 85 | ASupNeighborTable = model.SupNeighborTable; |
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| 86 | AmaskSky = model.maskSky; |
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| 87 | AmaskG = model.maskG; |
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| 88 | AMultiScaleSupTable = model.MultiScaleSupTable; |
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| 89 | |
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| 90 | Default.filename{1} = ['../' Img]; |
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| 91 | % Calling PairReInferenceSepRender |
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| 92 | |
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| 93 | [ model.PlaneParaInfo] = PlaneParaMRFTriangulateOneShot( Default, R, T, AappendOpt, ... |
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| 94 | [ Aconstrain.RayMatched; Aconstrain.OccluRayMatched],... |
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| 95 | [ Aconstrain.Depth_modified Aconstrain.OccluDepth_modified]',... |
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| 96 | [ Aconstrain.SupMatched; Aconstrain.OccluSupMatched],... |
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| 97 | [ ], [ ], [ ], [],... |
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| 98 | ASup, ASupOri, [], AdepthMap, zeros(size(AdepthMap)), ARayOri, ARayAll, ... |
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| 99 | ASupNeighborTable, [], AmaskSky, AmaskG,... |
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| 100 | 'cvx_allL1Norm',1,... |
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| 101 | [], [], AMultiScaleSupTable, [], [], [], false, Scale, R, GroundLevel);% eye(3), GroundLevel might be wrong //Min check |
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| 102 | |
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| 103 | % Important Storage the Triangulated info in local scale |
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| 104 | save( [defaultPara.ScratchFolder Img '/' Wrlname '_' Img '_' PostFixStr '.mat'], 'model'); % add prefix defaultPara.Wrlname to distinguish model |
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| 105 | return; |
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