[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 [POriReprojM TargetID FieldID FieldOccluPix OcluedDist FaceSetIDRemained] = FindOccluPoint(defaultPara, ScaleImg, ITarget, IField, F, ... |
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| 40 | TargetPointPix, FieldPointPix, INDTarget, INDField, ModelInfoTarget, ModelInfoField, Pair) |
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| 41 | |
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| 42 | % Function find the occlu point |
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| 43 | % And output a region on epipolar line |
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| 44 | |
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| 45 | % initial parameters |
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| 46 | FlagDisp = 1; |
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| 47 | EpipolarThre = 0.1; |
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| 48 | MaxFieldPointDist2Ray = 1; |
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| 49 | [dump DepthScale(1) DepthScale(2)] = size(ModelInfoField.Model.PlaneParaInfo.Position3DFited); |
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| 50 | |
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| 51 | NumTargetPointPix = size(TargetPointPix,2); |
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| 52 | AllFieldPoint3D = ModelInfoField.Model.PlaneParaInfo.Position3DFited; |
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| 53 | AllFieldPoint3D = AllFieldPoint3D(:,:); |
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| 54 | |
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| 55 | % change FieldPoint3D into Target Coordinate |
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| 56 | R_f_t = Pair.R'; |
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| 57 | T_f_t = -Pair.R'*Pair.T; |
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| 58 | AllFieldPoint3D = R_f_t*AllFieldPoint3D + repmat( T_f_t, 1, size(AllFieldPoint3D,2)); % now in Target coordinate |
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| 59 | |
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| 60 | % Initialize Variables |
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| 61 | POriReprojM = []; |
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| 62 | TargetID = []; |
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| 63 | FieldID = []; |
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| 64 | FaceSetIDRemained = []; |
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| 65 | FieldOccluPix = []; |
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| 66 | OcluedDist = []; |
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| 67 | |
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| 68 | % Test Occlusion for each TargetPointPix point |
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| 69 | fprintf(' Finding Occlusion Points ......'); |
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| 70 | FindOccluPointTime = tic; |
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| 71 | for IndexTargetPointPix = 1:NumTargetPointPix |
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| 72 | |
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| 73 | % if IndexTargetPointPix/100 == round(IndexTargetPointPix/100) |
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| 74 | % IndexTargetPointPix |
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| 75 | % end |
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| 76 | % Initalize temp variables |
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| 77 | INDFieldCandidate = []; |
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| 78 | |
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| 79 | % 1) Pre-filtering the 2-d points in field image that are far from the epipolar line corresponding to the TargetPoint |
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| 80 | |
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| 81 | % Computing epipolar lines |
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| 82 | EpipolarLinePara = F*[ TargetPointPix(:,IndexTargetPointPix); 1]; |
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| 83 | NormalizedEpipolarLinePara = EpipolarLinePara / norm(EpipolarLinePara(1:2)); |
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| 84 | |
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| 85 | % Find the RePojection of the Target Point in Field-Camera |
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| 86 | TargetPoint3D = ModelInfoTarget.Model.PlaneParaInfo.Position3DFited(:,INDTarget(:,IndexTargetPointPix)); % Size 3x1 |
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| 87 | PointDepth(IndexTargetPointPix) = ModelInfoTarget.Model.PlaneParaInfo.FitDepth(INDTarget(:,IndexTargetPointPix)); |
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| 88 | POriReproj = defaultPara.InrinsicK2*(Pair.R*( TargetPoint3D) + Pair.T); |
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| 89 | POriReproj = POriReproj(1:2,:)./POriReproj(3,:); |
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| 90 | |
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| 91 | % Modify the POriReproj to the closest point in the image |
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| 92 | % Since ReProjection of the Target Point might not be in size the Field image range |
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| 93 | POriReproj = Point2ImageRange(POriReproj, NormalizedEpipolarLinePara, ScaleImg); % some error/ Min fixed later//Solved 6/28 |
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| 94 | |
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| 95 | % Finding Field points with distances to the epipolar line smaller than EpipolarThre*max(ScaleImg) |
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| 96 | Mask = abs(NormalizedEpipolarLinePara' * [ FieldPointPix; ones(1, size(FieldPointPix,2))]) <= EpipolarThre*max(ScaleImg); |
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| 97 | INDFieldCandidate = INDField(Mask); |
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| 98 | FieldPoint3D = AllFieldPoint3D(:,INDFieldCandidate); % 3 x NPoints % inFeild coordinate |
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| 99 | |
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| 100 | |
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| 101 | % 2) Pre-filtering the 3-d points in field image that are far from the ray connecting target point to target image-origin. |
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| 102 | |
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| 103 | % Find the distance of all the points from the target-origi ray |
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| 104 | if ~isempty(FieldPoint3D) |
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| 105 | u = TargetPoint3D' * FieldPoint3D / (TargetPoint3D' * TargetPoint3D); |
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| 106 | distances = sqrt( sum( ( repmat(u,[3,1]) .* repmat(TargetPoint3D,[1,size(FieldPoint3D,2)]) - FieldPoint3D).^2 ,1)); |
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| 107 | occludingPointsMask = distances < MaxFieldPointDist2Ray; |
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| 108 | distances = distances(occludingPointsMask); |
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| 109 | [distances SortIND ] = sort(distances); |
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| 110 | % update the new Field Candidate Points |
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| 111 | FieldPoint3D = FieldPoint3D(:,occludingPointsMask); |
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| 112 | FieldPoint3D = FieldPoint3D(:,SortIND); |
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| 113 | INDFieldCandidate = INDFieldCandidate(occludingPointsMask); |
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| 114 | INDFieldCandidate = INDFieldCandidate(SortIND); |
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| 115 | end |
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| 116 | |
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| 117 | % ============ Min's New trial ================= |
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| 118 | % 3) Check triangals using FieldPoint3D are occluing the Ray or Not |
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| 119 | [ SubV SubH] = ind2sub(DepthScale, INDFieldCandidate); |
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| 120 | % length(INDFieldCandidate) |
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| 121 | i = 1; |
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| 122 | breakFlag = 0; |
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| 123 | while i <=length(INDFieldCandidate) && breakFlag == 0 |
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| 124 | % i |
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| 125 | Ray = TargetPoint3D./norm(TargetPoint3D); |
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| 126 | if (~(SubV(i) == 1 || SubH(i) == 1) && breakFlag ==0) |
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| 127 | % check top left square |
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| 128 | if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)-1, SubH(i)-1) == ... |
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| 129 | ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)) |
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| 130 | % upper right |
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| 131 | FaceSetID1 = INDFieldCandidate(i) - DepthScale(1) - 1; |
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| 132 | FaceSetID2 = INDFieldCandidate(i) - 1; |
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| 133 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)-1],[SubH(i) SubH(i)-1 SubH(i)]); |
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| 134 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 135 | Ray); |
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| 136 | OccluStorageScript; % min added script |
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| 137 | % lower left |
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| 138 | FaceSetID1 = INDFieldCandidate(i) - DepthScale(1) - 1; |
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| 139 | FaceSetID2 = INDFieldCandidate(i) - DepthScale(1); |
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| 140 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)],[SubH(i) SubH(i)-1 SubH(i)-1]); |
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| 141 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 142 | Ray); |
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| 143 | OccluStorageScript; % min added script |
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| 144 | else |
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| 145 | % lower right |
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| 146 | FaceSetID1 = INDFieldCandidate(i) - DepthScale(1); |
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| 147 | FaceSetID2 = INDFieldCandidate(i) - 1; |
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| 148 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i) SubV(i)-1],[SubH(i) SubH(i)-1 SubH(i)]); |
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| 149 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 150 | Ray); |
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| 151 | OccluStorageScript; % min added script |
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| 152 | end |
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| 153 | end |
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| 154 | |
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| 155 | if (~(SubV(i) == 1 || SubH(i) == DepthScale(2)) && breakFlag ==0) |
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| 156 | % check top right square |
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| 157 | if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)-1, SubH(i)) == ... |
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| 158 | ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)+1) |
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| 159 | % lower left |
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| 160 | FaceSetID1 = INDFieldCandidate(i) - 1; |
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| 161 | FaceSetID2 = INDFieldCandidate(i) + DepthScale(1); |
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| 162 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)],[SubH(i) SubH(i) SubH(i)+1]); |
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| 163 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 164 | Ray); |
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| 165 | OccluStorageScript; % min added script |
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| 166 | else |
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| 167 | % upper left |
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| 168 | FaceSetID1 = INDFieldCandidate(i) - 1; |
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| 169 | FaceSetID2 = INDFieldCandidate(i) + DepthScale(1) - 1; |
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| 170 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)-1],[SubH(i) SubH(i) SubH(i)+1]); |
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| 171 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 172 | Ray); |
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| 173 | OccluStorageScript; % min added script |
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| 174 | % lower right |
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| 175 | FaceSetID1 = INDFieldCandidate(i) + DepthScale(1) - 1; |
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| 176 | FaceSetID2 = INDFieldCandidate(i) + DepthScale(1); |
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| 177 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)],[SubH(i) SubH(i)+1 SubH(i)+1]); |
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| 178 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 179 | Ray); |
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| 180 | OccluStorageScript; % min added script |
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| 181 | |
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| 182 | end |
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| 183 | end |
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| 184 | |
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| 185 | if (~(SubV(i) == DepthScale(1) || SubH(i) == 1) && breakFlag ==0) |
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| 186 | % check bottom left square |
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| 187 | if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)-1) == ... |
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| 188 | ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)+1, SubH(i)) |
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| 189 | % upper right |
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| 190 | FaceSetID1 = INDFieldCandidate(i) - DepthScale(1); |
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| 191 | FaceSetID2 = INDFieldCandidate(i) + 1; |
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| 192 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i) SubV(i)+1],[SubH(i) SubH(i)-1 SubH(i)]); |
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| 193 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 194 | Ray); |
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| 195 | OccluStorageScript; % min added script |
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| 196 | |
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| 197 | else |
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| 198 | % upper left |
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| 199 | FaceSetID1 = INDFieldCandidate(i) - DepthScale(1); |
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| 200 | FaceSetID2 = INDFieldCandidate(i) - DepthScale(1) + 1; |
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| 201 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i) SubV(i)+1],[SubH(i) SubH(i)-1 SubH(i)-1]); |
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| 202 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 203 | Ray); |
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| 204 | OccluStorageScript; % min added script |
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| 205 | % lower right |
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| 206 | FaceSetID2 = INDFieldCandidate(i) - DepthScale(1) + 1; |
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| 207 | FaceSetID1 = INDFieldCandidate(i) + 1; |
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| 208 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)+1],[SubH(i) SubH(i)-1 SubH(i)]); |
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| 209 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 210 | Ray); |
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| 211 | OccluStorageScript; % min added script |
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| 212 | end |
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| 213 | end |
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| 214 | |
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| 215 | if (~(SubV(i) == DepthScale(1) || SubH(i) == DepthScale(2)) && breakFlag ==0) |
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| 216 | % check bottom left square |
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| 217 | if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)) == ... |
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| 218 | ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)+1, SubH(i)+1) |
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| 219 | % upper right |
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| 220 | FaceSetID2 = INDFieldCandidate(i) + DepthScale(1) + 1; |
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| 221 | FaceSetID1 = INDFieldCandidate(i) + DepthScale(1); |
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| 222 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)],[SubH(i) SubH(i)+1 SubH(i)+1]); |
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| 223 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 224 | Ray); |
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| 225 | OccluStorageScript; % min added script |
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| 226 | % lower left |
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| 227 | FaceSetID2 = INDFieldCandidate(i) + 1; |
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| 228 | FaceSetID1 = INDFieldCandidate(i) + DepthScale(1) + 1; |
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| 229 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)+1],[SubH(i) SubH(i) SubH(i)+1]); |
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| 230 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 231 | Ray); |
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| 232 | OccluStorageScript; % min added script |
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| 233 | else |
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| 234 | % upper left |
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| 235 | FaceSetID2 = INDFieldCandidate(i) + 1; |
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| 236 | FaceSetID1 = INDFieldCandidate(i) + DepthScale(1); |
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| 237 | TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)],[SubH(i) SubH(i) SubH(i)+1]); |
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| 238 | [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... |
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| 239 | Ray); |
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| 240 | OccluStorageScript; % min added script |
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| 241 | end |
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| 242 | end |
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| 243 | % i |
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| 244 | i = i + 1; |
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| 245 | end % end of second for loop |
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| 246 | % ===================================== |
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| 247 | % IndexTargetPointPix |
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| 248 | end % end of first for loop |
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| 249 | disp([ ' ' num2str( toc(FindOccluPointTime)) ' seconds']); |
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| 250 | return; |
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