[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 [] = OcclusionRefinement(defaultPara, Wrlname, PairList, PostFixStrAfter, Type, PostFixStr) |
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| 40 | |
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| 41 | % This function do three thing |
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| 42 | % 1) detect the occlusion from the current model |
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| 43 | % 2) decide redundent plane |
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| 44 | % 3) Re-Render by not rendering the redundent plane information |
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| 45 | |
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| 46 | % Input: |
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| 47 | % 1) defaultPara - all parameter share for the whole stitching3d folder |
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| 48 | % 2) Wrlname - the name of the model, different by the PairList |
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| 49 | % 3) PairList - the linearly order of image that been added to the model |
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| 50 | |
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| 51 | % Fixed constant --- need to be put in defaultPara by Min later |
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| 52 | depthratioMin = 0.01; |
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| 53 | depthratioMax = 100; |
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| 54 | NegI = diag([1 1 -1]); |
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| 55 | if nargin <6 |
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| 56 | PostFixStr = 'NonMono';%'NonMonoOccluMatched' |
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| 57 | end |
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| 58 | if nargin <4 |
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| 59 | PostFixStrAfter = 'OccluRemove'; |
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| 60 | end |
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| 61 | DisCtsThre = 0.1; % fractional error |
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| 62 | OcclusionRatioThre = 1.1; |
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| 63 | SurfFlag = 0; % default not using surf Feature point to find occlusion |
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| 64 | if strcmp( lower(Type), 'matches') |
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| 65 | SurfFlag = 1; |
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| 66 | end |
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| 67 | |
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| 68 | % 1) Run occlusion detection and Matcheing for every pair of images |
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| 69 | |
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| 70 | ImgList = unique(PairList); |
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| 71 | NumImg = length(ImgList); |
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| 72 | |
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| 73 | if defaultPara.Flag.FlagOccluDetect |
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| 74 | |
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| 75 | tic; % start timing the time for the OccluDetection Step |
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| 76 | |
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| 77 | % copy the ImgInfo of each image to another "PostFixStrAfter".mat file |
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| 78 | if defaultPara.Flag.FlagResetModeltoNomoModel |
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| 79 | for i = 1:NumImg |
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| 80 | load([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStr '.mat']); |
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| 81 | save([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStrAfter '.mat'],'model'); |
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| 82 | end |
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| 83 | end |
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| 84 | |
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| 85 | % detect occlusion for every pair of image |
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| 86 | for i = 1:NumImg |
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| 87 | for j = (i+1):NumImg |
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| 88 | |
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| 89 | % [Img1Index] = ImgInfoIndexFromName(ImgInfo, ImgList{i}); |
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| 90 | % [Img2Index] = ImgInfoIndexFromName(ImgInfo, ImgList{j}); |
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| 91 | |
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| 92 | [ImgInfo1 ImgInfo2 Img1Index Img2Index Pair GlobalScale] = ... % What to do with Pairs haven't been matched ??????????????????? |
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| 93 | LoadDataForFindOcclu(defaultPara, Wrlname, ImgList{i}, ImgList{j}, ... |
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| 94 | 0, PostFixStrAfter); % load all imformation needed for occlusion detection |
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| 95 | |
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| 96 | % Define variables |
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| 97 | H = 2274; |
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| 98 | V = 1704; |
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| 99 | Img1 = ImgInfo1.ExifInfo.IDName |
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| 100 | Img2 = ImgInfo2.ExifInfo.IDName |
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| 101 | I1=imreadbw([defaultPara.Fdir '/pgm/' Img1 '.pgm']); % function from sift |
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| 102 | I2=imreadbw([defaultPara.Fdir '/pgm/' Img2 '.pgm']); % function from sift |
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| 103 | ImgScale1 = size(I1); |
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| 104 | ImgScale2 = size(I2); |
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| 105 | |
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| 106 | % time consuming about 5mins |
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| 107 | if ~defaultPara.Flag.FlagPreloadOccluDetect |
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| 108 | [PointPix1 PointDepth1 FaceSetPickedIND1 POriReprojM1 FieldOccluPix1 OccluDist1 OccluedFaceSetIND1 OccluedFaceSetIDRemained1... |
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| 109 | PointPix2 PointDepth2 FaceSetPickedIND2 POriReprojM2 FieldOccluPix2 OccluDist2 OccluedFaceSetIND2 OccluedFaceSetIDRemained2] = ... |
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| 110 | FindOccluPair(defaultPara, ImgInfo1, ImgInfo2, Pair, GlobalScale, SurfFlag); % detect occlsion (use Ray as detector not the surf Features) |
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| 111 | % data Struction define: |
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| 112 | % PointPix PointDepth FaceSetPickedIND POriReprojM FieldOccluPix OccluDist OccluedFaceSetIND |
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| 113 | % -- allof the size that single ray pass through both FaceSet |
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| 114 | % FaceSetPickedIND1 used in DepthMap size or surfFeature size |
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| 115 | % OccluedFaceSetIND1 used in DepthMap size |
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| 116 | if SurfFlag |
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| 117 | save([ defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter '_OccluDetect_Match.mat'],... |
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| 118 | 'PointPix1','PointDepth1','FaceSetPickedIND1','POriReprojM1','FieldOccluPix1','OccluDist1',... |
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| 119 | 'OccluedFaceSetIND1','OccluedFaceSetIDRemained1', ... |
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| 120 | 'PointPix2','PointDepth2','FaceSetPickedIND2','POriReprojM2','FieldOccluPix2','OccluDist2',... |
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| 121 | 'OccluedFaceSetIND2','OccluedFaceSetIDRemained2'); |
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| 122 | else |
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| 123 | save([ defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter '_OccluDetect_Ray.mat'],... |
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| 124 | 'PointPix1','PointDepth1','FaceSetPickedIND1','POriReprojM1','FieldOccluPix1','OccluDist1',... |
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| 125 | 'OccluedFaceSetIND1','OccluedFaceSetIDRemained1', ... |
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| 126 | 'PointPix2','PointDepth2','FaceSetPickedIND2','POriReprojM2','FieldOccluPix2','OccluDist2',... |
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| 127 | 'OccluedFaceSetIND2','OccluedFaceSetIDRemained2'); |
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| 128 | %'PointPix1','PointDepth1','FaceSetPickedIND1','POriReprojM1','FieldOccluPix1','OccluDist1','OccluedFaceSetIND1',... |
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| 129 | %'PointPix2','PointDepth2','FaceSetPickedIND2','POriReprojM2','FieldOccluPix2','OccluDist2','OccluedFaceSetIND2'); |
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| 130 | end |
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| 131 | else |
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| 132 | if SurfFlag |
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| 133 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter '_OccluDetect_Match.mat']); |
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| 134 | else |
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| 135 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter '_OccluDetect_Ray.mat']); |
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| 136 | end |
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| 137 | end |
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| 138 | |
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| 139 | % Define occlusion if OccluDist > CentainThreshold |
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| 140 | if defaultPara.Flag.FlagRecipicalOccluDetection |
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| 141 | Mask1 = PointDepth1./OccluDist1 > OcclusionRatioThre | OccluDist1./PointDepth1 > OcclusionRatioThre; |
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| 142 | Mask2 = PointDepth2./OccluDist2 > OcclusionRatioThre | OccluDist2./PointDepth2 > OcclusionRatioThre; |
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| 143 | else |
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| 144 | Mask1 = PointDepth1./OccluDist1 > OcclusionRatioThre;%defaultPara.OccluDistThre; |
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| 145 | Mask2 = PointDepth2./OccluDist2 > OcclusionRatioThre;%defaultPara.OccluDistThre; |
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| 146 | end |
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| 147 | |
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| 148 | % Action: find new matches or decide plane to remove given the occlusion infomation |
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| 149 | switch lower(Type) |
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| 150 | case 'matches' |
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| 151 | [matches]=MatchPointsGivenOcclusion(defaultPara, ImgInfo1, ImgInfo2, ImgScale1, ImgScale2, Img1, Img2, Img1Index, Img2Index, ... |
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| 152 | Pair, GlobalScale, Wrlname, PostFixStrAfter, ... |
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| 153 | POriReprojM1(:,Mask1), FieldOccluPix1(:,Mask1), FaceSetPickedIND1(:,Mask1), ... |
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| 154 | POriReprojM2(:,Mask2), FieldOccluPix2(:,Mask2), FaceSetPickedIND2(:,Mask2) ); |
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| 155 | case 'corrmatches' |
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| 156 | if ~isempty(Pair.lamda) |
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| 157 | depthratio = Pair.lamda(1,:)./Pair.lamda(2,:); |
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| 158 | % Min add to remove outliers (should be already removed when doing PoseEst.m) |
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| 159 | Inliers = depthratio > depthratioMin & depthratio < depthratioMax; |
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| 160 | depthratio = depthratio(Inliers); |
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| 161 | maxRatio = max(depthratio); |
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| 162 | minRatio = min(depthratio); |
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| 163 | else |
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| 164 | maxRatio = max([GlobalScale(1)/GlobalScale(2) GlobalScale(2)/GlobalScale(1)]); |
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| 165 | minRatio = 1/maxRatio; |
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| 166 | end |
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| 167 | [Matches1 CoeffM1 Inliers1]=CorrolationMatch( defaultPara, Pair, I1, I2, PointPix1(:,Mask1), POriReprojM1(:,Mask1), FieldOccluPix1(:,Mask1), [minRatio maxRatio]); |
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| 168 | Pair2_1.R = Pair.R'; |
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| 169 | Pair2_1.T = -Pair.R'*Pair.T; |
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| 170 | if defaultPara.Flag.FlagRefinementDisp |
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| 171 | disp('Start Reverse CorrolationMatches Hold on'); |
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| 172 | whos |
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| 173 | end |
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| 174 | [Matches2 CoeffM2 Inliers2]=CorrolationMatch( defaultPara, Pair2_1, I2, I1, PointPix2(:,Mask2), POriReprojM2(:,Mask2), FieldOccluPix2(:,Mask2), [1/maxRatio 1/minRatio]); |
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| 175 | if defaultPara.Flag.FlagRefinementDisp |
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| 176 | disp('CorrolationMatch.m Finished'); |
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| 177 | end |
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| 178 | Matches1 = Matches1(:,Inliers1); |
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| 179 | Matches2 = Matches2(:,Inliers2); |
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| 180 | CoeffM1 = CoeffM1(:,Inliers1); |
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| 181 | CoeffM2 = CoeffM2(:,Inliers2); |
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| 182 | |
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| 183 | % Check if the Matches are not mutual discard the one with less Coeff(Cross-Corrolation value) =============== |
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| 184 | Matches = [ Matches1 [Matches2(3:4,:); Matches2(1:2,:)]]; |
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| 185 | CoeffM = [ CoeffM1 CoeffM2]; |
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| 186 | % Min used different algorithm than SurFeature Matches |
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| 187 | [Inliers] = CleanMatch(Matches, CoeffM(1,:)); % choose the matches with higher Coeff is the matches is not mutual |
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| 188 | [InliersReverse] = CleanMatch(Matches(:,Inliers), CoeffM(1,Inliers)); % choose the matches with higher Coeff is the matches is not mutual |
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| 189 | Inliers = Inliers(InliersReverse); |
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| 190 | Matches = Matches(:,Inliers); |
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| 191 | CoeffM = CoeffM(:,Inliers); |
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| 192 | |
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| 193 | if defaultPara.Flag.FlagRefinementDisp |
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| 194 | figure; plotmatches(I1,I2,Matches(1:2,:), Matches(3:4,:),repmat(1:size(Matches,2),2,1), 'Stacking','v','Interactive', 3); |
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| 195 | end |
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| 196 | |
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| 197 | save([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter 'BeforeFiltering.mat'],'Matches','CoeffM'); |
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| 198 | |
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| 199 | % use Coeff as threshould to filter out error matches |
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| 200 | CoeffMask = CoeffM(1,:) > defaultPara.CoeffMThre; |
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| 201 | [inlier, Residual] = EpipoPrune(defaultPara, Pair, Matches, ImgScale1); |
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| 202 | EpipolarResidualMask = Residual < defaultPara.ResidualThre; |
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| 203 | CoeffRationMask = CoeffM(2,:)./CoeffM(1,:) < defaultPara.coeffratioThre; |
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| 204 | CoeffRationMask( CoeffM(1,:) == 0) = false;% CoeffM(1,:) == 0 means not satisfy the epipolar constrain |
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| 205 | Mark = CoeffMask & CoeffRationMask & EpipolarResidualMask; |
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| 206 | |
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| 207 | save([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter '.mat'],'Matches','CoeffM','Mark'); |
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| 208 | |
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| 209 | % ======================================================================= |
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| 210 | if ~isempty(Matches(:,Mark)) |
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| 211 | tempf1 = Matches(1:2,Mark); |
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| 212 | tempf2 = Matches(3:4,Mark); |
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| 213 | x_calib = [ inv(defaultPara.InrinsicK1)*[ tempf1; ones(1,size(tempf1,2))];... |
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| 214 | inv(defaultPara.InrinsicK2)*[ tempf2; ones(1,size(tempf2,2))]]; |
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| 215 | [ lamda1 lamda2 Error] = triangulation( defaultPara, Pair.R, Pair.T, x_calib); |
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| 216 | % notice lamda re-scale to local model scale |
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| 217 | lamda1 = lamda1./GlobalScale(1); |
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| 218 | lamda2 = lamda2./GlobalScale(2); |
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| 219 | % Storage the match result for later ReInference |
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| 220 | AddMatch2Model(defaultPara, Wrlname, lamda1, Matches(1:2,Mark), ImgInfo1, ImgScale1, Img1Index, Img2Index, PostFixStrAfter, Error); |
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| 221 | AddMatch2Model(defaultPara, Wrlname, lamda2, Matches(3:4,Mark), ImgInfo2, ImgScale2, Img2Index, Img1Index, PostFixStrAfter, Error); |
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| 222 | % Storage the New Matches |
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| 223 | if defaultPara.Flag.FlagRefinementDisp |
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| 224 | disp('Storaging Occlusion Surf Features Matches'); |
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| 225 | save([defaultPara.Fdir '/data/' Img1 '_' Img2 '_' PostFixStrAfter '.mat'],'Matches','CoeffM','Error','Mark'); |
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| 226 | end |
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| 227 | end |
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| 228 | |
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| 229 | |
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| 230 | case 'remove' |
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| 231 | RemovePlaneGivenOcclusion(defaultPara, ImgInfo1, ImgInfo2, Pair, GlobalScale, Img1, Img2, Wrlname, PostFixStrAfter,... |
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| 232 | FaceSetPickedIND1, OccluedFaceSetIND1, FaceSetPickedIND2, OccluedFaceSetIND2, Mask1, Mask2); |
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| 233 | end |
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| 234 | end |
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| 235 | end |
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| 236 | TimeForOccluDetectionFirstStep = toc; |
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| 237 | if defaultPara.Flag.FlagRefinementDisp |
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| 238 | disp(['Finish OccluDetectionFirstStep in ' num2str(TimeForOccluDetectionFirstStep) ' seconds']); |
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| 239 | end |
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| 240 | |
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| 241 | end % end of if defaultPara.Flag.FlagOccluDetect |
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| 242 | |
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| 243 | % 2) Render of each image individiually ----------------------------------------------------------------------------------- |
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| 244 | if defaultPara.Flag.FlagRefinementReInference |
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| 245 | |
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| 246 | tic; % timing the Refinement Step |
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| 247 | |
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| 248 | for i = 1:NumImg |
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| 249 | |
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| 250 | switch lower(Type) |
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| 251 | case 'remove' |
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| 252 | % Data preparing and ReInfernece |
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| 253 | Default.Wrlname{1} = [Wrlname '_' ImgList{i} '_' PostFixStrAfter]; |
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| 254 | Default.filename{1} = ['../' ImgList{i}]; |
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| 255 | load([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStrAfter '.mat']); |
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| 256 | Default.OutPutFolder = [ defaultPara.OutPutFolder ImgList{i} '/']; |
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| 257 | R = LoadModelStatus( defaultPara.Fdir, Wrlname, ImgList{i}, 'R'); |
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| 258 | T = LoadModelStatus( defaultPara.Fdir, Wrlname, ImgList{i}, 'T'); |
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| 259 | |
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| 260 | if false |
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| 261 | DiffHori = conv2(model.PlaneParaInfo.FitDepth, [1 -1], 'valid'); |
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| 262 | DiffVert = conv2(model.PlaneParaInfo.FitDepth, [1; -1], 'valid'); |
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| 263 | maskH = [ (DiffHori./model.PlaneParaInfo.FitDepth(:,2:end) > DisCtsThre) zeros(size(model.PlaneParaInfo.FitDepth,1),1)]; |
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| 264 | maskH(end,:) = 0; |
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| 265 | maskV = [ (DiffVert./model.PlaneParaInfo.FitDepth(2:end,:) > DisCtsThre); zeros(1, size(model.PlaneParaInfo.FitDepth,2))]; |
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| 266 | maskV(:,end) = 0; |
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| 267 | model.PlaneParaInfo.SupOri(logical( maskH) ) = 0; |
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| 268 | model.PlaneParaInfo.SupOri(logical( maskV) ) = 0; |
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| 269 | end |
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| 270 | |
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| 271 | WrlFacestHroiReduce(model.PlaneParaInfo.Position3DFited, model.PlaneParaInfo.PositionTex, model.PlaneParaInfo.SupOri, ... |
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| 272 | Default.filename{1}, Default.Wrlname{1}, ... |
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| 273 | Default.OutPutFolder, 0, 0); |
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| 274 | |
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| 275 | case {'matches','corrmatches'} |
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| 276 | % Data preparing and ReInfernece |
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| 277 | Default.Wrlname{1} = [Wrlname '_' ImgList{i} '_' PostFixStrAfter]; |
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| 278 | load([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStrAfter '.mat']); |
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| 279 | R = LoadModelStatus( defaultPara.Fdir, Wrlname, ImgList{i}, 'R'); |
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| 280 | T = LoadModelStatus( defaultPara.Fdir, Wrlname, ImgList{i}, 'T'); |
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| 281 | Scale = LoadModelStatus(defaultPara.Fdir, Wrlname, ImgList{i}, 'Scale'); |
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| 282 | SingleImgReInference(defaultPara, model, ImgList{i}, LoadModelStatus(defaultPara.Fdir, Wrlname, ImgList{i}, 'GroundLevel'),Wrlname, ... |
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| 283 | R, T, Scale ,PostFixStrAfter); |
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| 284 | end |
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| 285 | |
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| 286 | % Build Meta Wrl file ========= |
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| 287 | Path = [ defaultPara.OutPutFolder Wrlname '_' PostFixStrAfter '.wrl']; |
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| 288 | InLinePath = ['./' ImgList{i} '/' Default.Wrlname{1} '.wrl']; |
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| 289 | Q = Rotation2Q(NegI*R*NegI);% for Wrl (-) z component; |
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| 290 | if any(isnan(Q)) |
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| 291 | Q = zeros(4,1); |
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| 292 | end |
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| 293 | WRLT = T; |
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| 294 | WRLT(3) = -WRLT(3);% for Wrl (-) z component; |
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| 295 | Scale = LoadModelStatus(defaultPara.Fdir, Wrlname, ImgList{i}, 'Scale'); |
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| 296 | if i == 1 |
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| 297 | BuildVrmlMetaModel(1, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
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| 298 | else |
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| 299 | BuildVrmlMetaModel(0, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
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| 300 | end |
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| 301 | % =============================== |
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| 302 | |
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| 303 | end |
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| 304 | |
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| 305 | TimeForRefinementStep = toc; |
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| 306 | if defaultPara.Flag.FlagRefinementDisp |
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| 307 | disp(['Finish RefinementStep in ' num2str(TimeForRefinementStep) ' seconds']); |
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| 308 | end |
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| 309 | end % end of if defaultPara.Flag.FlagRefinementReInference |
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| 310 | |
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| 311 | return; |
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