% * This code was used in the following articles: % * [1] Learning 3-D Scene Structure from a Single Still Image, % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007. % * (best paper) % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision, % * Ashutosh Saxena, Min Sun, Andrew Y. Ng, % * In ICCV workshop on Virtual Representations and Modeling % * of Large-scale environments (VRML), 2007. % * [3] 3-D Depth Reconstruction from a Single Still Image, % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. % * International Journal of Computer Vision (IJCV), Aug 2007. % * [6] Learning Depth from Single Monocular Images, % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. % * In Neural Information Processing Systems (NIPS) 18, 2005. % * % * These articles are available at: % * http://make3d.stanford.edu/publications % * % * We request that you cite the papers [1], [3] and [6] in any of % * your reports that uses this code. % * Further, if you use the code in image3dstiching/ (multiple image version), % * then please cite [2]. % * % * If you use the code in third_party/, then PLEASE CITE and follow the % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE. % * % * Finally, this code is for non-commercial use only. For further % * information and to obtain a copy of the license, see % * % * http://make3d.stanford.edu/publications/code % * % * Also, the software distributed under the License is distributed on an % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either % * express or implied. See the License for the specific language governing % * permissions and limitations under the License. % * % */ function [POriReprojM TargetID FieldID FieldOccluPix OcluedDist FaceSetIDRemained] = FindOccluPoint(defaultPara, ScaleImg, ITarget, IField, F, ... TargetPointPix, FieldPointPix, INDTarget, INDField, ModelInfoTarget, ModelInfoField, Pair) % Function find the occlu point % And output a region on epipolar line % initial parameters FlagDisp = 1; EpipolarThre = 0.1; MaxFieldPointDist2Ray = 1; [dump DepthScale(1) DepthScale(2)] = size(ModelInfoField.Model.PlaneParaInfo.Position3DFited); NumTargetPointPix = size(TargetPointPix,2); AllFieldPoint3D = ModelInfoField.Model.PlaneParaInfo.Position3DFited; AllFieldPoint3D = AllFieldPoint3D(:,:); % change FieldPoint3D into Target Coordinate R_f_t = Pair.R'; T_f_t = -Pair.R'*Pair.T; AllFieldPoint3D = R_f_t*AllFieldPoint3D + repmat( T_f_t, 1, size(AllFieldPoint3D,2)); % now in Target coordinate % Initialize Variables POriReprojM = []; TargetID = []; FieldID = []; FaceSetIDRemained = []; FieldOccluPix = []; OcluedDist = []; % Test Occlusion for each TargetPointPix point fprintf(' Finding Occlusion Points ......'); FindOccluPointTime = tic; for IndexTargetPointPix = 1:NumTargetPointPix % if IndexTargetPointPix/100 == round(IndexTargetPointPix/100) % IndexTargetPointPix % end % Initalize temp variables INDFieldCandidate = []; % 1) Pre-filtering the 2-d points in field image that are far from the epipolar line corresponding to the TargetPoint % Computing epipolar lines EpipolarLinePara = F*[ TargetPointPix(:,IndexTargetPointPix); 1]; NormalizedEpipolarLinePara = EpipolarLinePara / norm(EpipolarLinePara(1:2)); % Find the RePojection of the Target Point in Field-Camera TargetPoint3D = ModelInfoTarget.Model.PlaneParaInfo.Position3DFited(:,INDTarget(:,IndexTargetPointPix)); % Size 3x1 PointDepth(IndexTargetPointPix) = ModelInfoTarget.Model.PlaneParaInfo.FitDepth(INDTarget(:,IndexTargetPointPix)); POriReproj = defaultPara.InrinsicK2*(Pair.R*( TargetPoint3D) + Pair.T); POriReproj = POriReproj(1:2,:)./POriReproj(3,:); % Modify the POriReproj to the closest point in the image % Since ReProjection of the Target Point might not be in size the Field image range POriReproj = Point2ImageRange(POriReproj, NormalizedEpipolarLinePara, ScaleImg); % some error/ Min fixed later//Solved 6/28 % Finding Field points with distances to the epipolar line smaller than EpipolarThre*max(ScaleImg) Mask = abs(NormalizedEpipolarLinePara' * [ FieldPointPix; ones(1, size(FieldPointPix,2))]) <= EpipolarThre*max(ScaleImg); INDFieldCandidate = INDField(Mask); FieldPoint3D = AllFieldPoint3D(:,INDFieldCandidate); % 3 x NPoints % inFeild coordinate % 2) Pre-filtering the 3-d points in field image that are far from the ray connecting target point to target image-origin. % Find the distance of all the points from the target-origi ray if ~isempty(FieldPoint3D) u = TargetPoint3D' * FieldPoint3D / (TargetPoint3D' * TargetPoint3D); distances = sqrt( sum( ( repmat(u,[3,1]) .* repmat(TargetPoint3D,[1,size(FieldPoint3D,2)]) - FieldPoint3D).^2 ,1)); occludingPointsMask = distances < MaxFieldPointDist2Ray; distances = distances(occludingPointsMask); [distances SortIND ] = sort(distances); % update the new Field Candidate Points FieldPoint3D = FieldPoint3D(:,occludingPointsMask); FieldPoint3D = FieldPoint3D(:,SortIND); INDFieldCandidate = INDFieldCandidate(occludingPointsMask); INDFieldCandidate = INDFieldCandidate(SortIND); end % ============ Min's New trial ================= % 3) Check triangals using FieldPoint3D are occluing the Ray or Not [ SubV SubH] = ind2sub(DepthScale, INDFieldCandidate); % length(INDFieldCandidate) i = 1; breakFlag = 0; while i <=length(INDFieldCandidate) && breakFlag == 0 % i Ray = TargetPoint3D./norm(TargetPoint3D); if (~(SubV(i) == 1 || SubH(i) == 1) && breakFlag ==0) % check top left square if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)-1, SubH(i)-1) == ... ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)) % upper right FaceSetID1 = INDFieldCandidate(i) - DepthScale(1) - 1; FaceSetID2 = INDFieldCandidate(i) - 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)-1],[SubH(i) SubH(i)-1 SubH(i)]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script % lower left FaceSetID1 = INDFieldCandidate(i) - DepthScale(1) - 1; FaceSetID2 = INDFieldCandidate(i) - DepthScale(1); TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)],[SubH(i) SubH(i)-1 SubH(i)-1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script else % lower right FaceSetID1 = INDFieldCandidate(i) - DepthScale(1); FaceSetID2 = INDFieldCandidate(i) - 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i) SubV(i)-1],[SubH(i) SubH(i)-1 SubH(i)]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script end end if (~(SubV(i) == 1 || SubH(i) == DepthScale(2)) && breakFlag ==0) % check top right square if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)-1, SubH(i)) == ... ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)+1) % lower left FaceSetID1 = INDFieldCandidate(i) - 1; FaceSetID2 = INDFieldCandidate(i) + DepthScale(1); TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)],[SubH(i) SubH(i) SubH(i)+1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script else % upper left FaceSetID1 = INDFieldCandidate(i) - 1; FaceSetID2 = INDFieldCandidate(i) + DepthScale(1) - 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)-1],[SubH(i) SubH(i) SubH(i)+1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script % lower right FaceSetID1 = INDFieldCandidate(i) + DepthScale(1) - 1; FaceSetID2 = INDFieldCandidate(i) + DepthScale(1); TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)-1 SubV(i)],[SubH(i) SubH(i)+1 SubH(i)+1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script end end if (~(SubV(i) == DepthScale(1) || SubH(i) == 1) && breakFlag ==0) % check bottom left square if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)-1) == ... ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)+1, SubH(i)) % upper right FaceSetID1 = INDFieldCandidate(i) - DepthScale(1); FaceSetID2 = INDFieldCandidate(i) + 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i) SubV(i)+1],[SubH(i) SubH(i)-1 SubH(i)]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script else % upper left FaceSetID1 = INDFieldCandidate(i) - DepthScale(1); FaceSetID2 = INDFieldCandidate(i) - DepthScale(1) + 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i) SubV(i)+1],[SubH(i) SubH(i)-1 SubH(i)-1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script % lower right FaceSetID2 = INDFieldCandidate(i) - DepthScale(1) + 1; FaceSetID1 = INDFieldCandidate(i) + 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)+1],[SubH(i) SubH(i)-1 SubH(i)]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script end end if (~(SubV(i) == DepthScale(1) || SubH(i) == DepthScale(2)) && breakFlag ==0) % check bottom left square if ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i), SubH(i)) == ... ModelInfoField.Model.PlaneParaInfo.SupOri(SubV(i)+1, SubH(i)+1) % upper right FaceSetID2 = INDFieldCandidate(i) + DepthScale(1) + 1; FaceSetID1 = INDFieldCandidate(i) + DepthScale(1); TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)],[SubH(i) SubH(i)+1 SubH(i)+1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script % lower left FaceSetID2 = INDFieldCandidate(i) + 1; FaceSetID1 = INDFieldCandidate(i) + DepthScale(1) + 1; TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)+1],[SubH(i) SubH(i) SubH(i)+1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script else % upper left FaceSetID2 = INDFieldCandidate(i) + 1; FaceSetID1 = INDFieldCandidate(i) + DepthScale(1); TriInd = sub2ind(DepthScale,[ SubV(i) SubV(i)+1 SubV(i)],[SubH(i) SubH(i) SubH(i)+1]); [ CombinePara OccluPointDepth] = SolveOccluPoint( AllFieldPoint3D(:,TriInd),... Ray); OccluStorageScript; % min added script end end % i i = i + 1; end % end of second for loop % ===================================== % IndexTargetPointPix end % end of first for loop disp([ ' ' num2str( toc(FindOccluPointTime)) ' seconds']); return;