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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