[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 [model1 model2] = RedundentPlanePick(defaultPara, ImgInfo1, ImgInfo2, Pair, GlobalScale, ... |
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| 40 | Img1IndexTarget, Img2IndexField, Img2IndexTarget, Img1IndexField) |
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| 41 | |
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| 42 | % [model1 model2] = RedundentPlanePick(defaultPara, ImgInfo1, ImgInfo2, ... |
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| 43 | % Img1IndexTarget, Img2IndexField, Img2IndexTarget, Img1IndexField) |
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| 44 | |
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| 45 | ErareTargetFlag = 1; |
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| 46 | CheckOwnRayFlag = 1; |
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| 47 | ErodeRemoveRegionFlag = 1; |
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| 48 | |
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| 49 | % take out the Plane Parameter to check the orientationa========================== |
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| 50 | PlanePara1Target = ImgInfo1.Model.PlaneParaInfo.PlanePara(:,ImgInfo1.Model.PlaneParaInfo.Sup2Para(... |
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| 51 | ImgInfo1.Model.PlaneParaInfo.SupEpand(Img1IndexTarget))); |
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| 52 | PlanePara1Field = ImgInfo2.Model.PlaneParaInfo.PlanePara(:,ImgInfo2.Model.PlaneParaInfo.Sup2Para(... |
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| 53 | ImgInfo2.Model.PlaneParaInfo.SupEpand(Img2IndexField))); |
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| 54 | % correct Scale to Global Scale |
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| 55 | PlanePara1Target = PlanePara1Target/GlobalScale(1); |
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| 56 | PlanePara1Field = PlanePara1Field/GlobalScale(2); |
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| 57 | % Transfer Feild Plane Parameters into Target coordinate |
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| 58 | PlanePara1Field_Ori = PlanePara1Field; |
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| 59 | PlanePara1Field = Pair.R'*PlanePara1Field./repmat(1- Pair.T'*PlanePara1Field, 3, 1); |
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| 60 | |
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| 61 | % normalized to unit vector |
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| 62 | PlanePara1Target = PlanePara1Target./repmat(sqrt( sum( PlanePara1Target.^2,1)), 3, 1); |
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| 63 | PlanePara1Field_Ori = PlanePara1Field_Ori./repmat(sqrt( sum( PlanePara1Field_Ori.^2,1)), 3, 1); |
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| 64 | PlanePara1Field = PlanePara1Field./repmat(sqrt( sum( PlanePara1Field.^2,1)), 3, 1); |
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| 65 | |
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| 66 | % Calculate the portion that align with the ray |
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| 67 | Ray1 = ImgInfo1.Model.PlaneParaInfo.Ray(:,:); |
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| 68 | PlanePara1Target2Ray = abs( sum(PlanePara1Target.*Ray1(:,Img1IndexTarget), 1) ); |
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| 69 | if CheckOwnRayFlag |
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| 70 | Ray1Field = ImgInfo2.Model.PlaneParaInfo.Ray(:,:); |
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| 71 | PlanePara1Field2Ray = abs( sum(PlanePara1Field_Ori.*Ray1Field(:,Img2IndexField), 1) ); |
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| 72 | else |
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| 73 | PlanePara1Field2Ray = abs( sum(PlanePara1Field.*Ray1(:,Img1IndexTarget), 1) ); |
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| 74 | end |
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| 75 | |
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| 76 | |
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| 77 | PlanePara2Target = ImgInfo2.Model.PlaneParaInfo.PlanePara(:,ImgInfo2.Model.PlaneParaInfo.Sup2Para(... |
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| 78 | ImgInfo2.Model.PlaneParaInfo.SupEpand(Img2IndexTarget))); |
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| 79 | PlanePara2Field = ImgInfo1.Model.PlaneParaInfo.PlanePara(:,ImgInfo1.Model.PlaneParaInfo.Sup2Para(... |
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| 80 | ImgInfo1.Model.PlaneParaInfo.SupEpand(Img1IndexField))); |
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| 81 | |
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| 82 | % correct Scale to Global Scale |
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| 83 | PlanePara2Target = PlanePara2Target/GlobalScale(2); |
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| 84 | PlanePara2Field = PlanePara2Field/GlobalScale(1); |
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| 85 | % Transfer Feild Plane Parameters into Target coordinate |
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| 86 | PlanePara2Field_Ori = PlanePara2Field; |
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| 87 | PlanePara2Field = Pair.R*PlanePara2Field./repmat(1- ( -Pair.R'*Pair.T )'*PlanePara2Field, 3, 1); |
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| 88 | |
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| 89 | % normalized to unit vector |
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| 90 | PlanePara2Target = PlanePara2Target./repmat(sqrt( sum( PlanePara2Target.^2,1)), 3, 1); |
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| 91 | PlanePara2Field_Ori = PlanePara2Field_Ori./repmat(sqrt( sum( PlanePara2Field_Ori.^2,1)), 3, 1); |
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| 92 | PlanePara2Field = PlanePara2Field./repmat(sqrt( sum( PlanePara2Field.^2,1)), 3, 1); |
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| 93 | |
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| 94 | % Calculate the portion that align with the ray |
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| 95 | Ray2 = ImgInfo2.Model.PlaneParaInfo.Ray(:,:); |
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| 96 | PlanePara2Target2Ray = sum(PlanePara2Target.*Ray2(:,Img2IndexTarget), 1) ; |
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| 97 | if CheckOwnRayFlag |
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| 98 | Ray2Field = ImgInfo1.Model.PlaneParaInfo.Ray(:,:); |
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| 99 | PlanePara2Field2Ray = abs( sum(PlanePara2Field_Ori.*Ray2Field(:,Img1IndexField), 1) ); |
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| 100 | else |
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| 101 | PlanePara2Field2Ray = sum(PlanePara2Field.*Ray2(:,Img2IndexTarget), 1) ; |
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| 102 | end |
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| 103 | |
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| 104 | % =============================================================================== |
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| 105 | |
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| 106 | % Pick out the Plane has a bigger normalized PlanPrameter of the Ray |
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| 107 | if ErareTargetFlag |
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| 108 | Img1IndexTargetOutliers = abs(PlanePara1Target2Ray) < abs(PlanePara1Field2Ray); |
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| 109 | else |
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| 110 | Img1IndexTargetOutliers = Inf < abs(PlanePara1Field2Ray); |
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| 111 | end |
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| 112 | Img2IndexFieldOutliers = ~Img1IndexTargetOutliers; |
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| 113 | |
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| 114 | if ErareTargetFlag |
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| 115 | Img2IndexTargetOutliers = abs(PlanePara2Target2Ray) < abs(PlanePara2Field2Ray); |
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| 116 | else |
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| 117 | Img2IndexTargetOutliers = Inf < abs(PlanePara2Field2Ray); |
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| 118 | end |
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| 119 | Img1IndexFieldOutliers = ~Img2IndexTargetOutliers; |
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| 120 | |
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| 121 | |
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| 122 | if ErodeRemoveRegionFlag |
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| 123 | OriSup = ones(size(ImgInfo1.Model.PlaneParaInfo.SupOri)); |
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| 124 | OriSup( Img1IndexTarget( Img1IndexTargetOutliers)) = 0; |
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| 125 | se = strel('ball',5,5); |
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| 126 | OriSup = imdilate(OriSup,se); |
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| 127 | Img1IndexTargetNew = find(OriSup == 0); |
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| 128 | |
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| 129 | OriSup = ones(size(ImgInfo2.Model.PlaneParaInfo.SupOri)); |
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| 130 | OriSup( Img2IndexField( Img2IndexFieldOutliers)) = 0; |
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| 131 | se = strel('ball',5,5); |
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| 132 | OriSup = imdilate(OriSup,se); |
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| 133 | Img2IndexFieldNew = find(OriSup == 0); |
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| 134 | |
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| 135 | OriSup = ones(size(ImgInfo2.Model.PlaneParaInfo.SupOri)); |
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| 136 | OriSup( Img2IndexTarget( Img2IndexTargetOutliers)) = 0; |
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| 137 | se = strel('ball',5,5); |
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| 138 | OriSup = imdilate(OriSup,se); |
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| 139 | Img2IndexTargetNew = find(OriSup == 0); |
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| 140 | |
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| 141 | OriSup = ones(size(ImgInfo1.Model.PlaneParaInfo.SupOri)); |
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| 142 | OriSup( Img1IndexField( Img1IndexFieldOutliers)) = 0; |
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| 143 | se = strel('ball',5,5); |
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| 144 | OriSup = imdilate(OriSup,se); |
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| 145 | Img1IndexFieldNew = find(OriSup == 0); |
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| 146 | end |
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| 147 | |
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| 148 | % Modify the Sup to 0 so that it won't rendered |
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| 149 | tempSup = ImgInfo1.Model.PlaneParaInfo.SupOri; |
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| 150 | tempSup( Img1IndexTarget( Img1IndexTargetOutliers)) = 0; |
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| 151 | tempSup(:,end) = ImgInfo1.Model.PlaneParaInfo.SupOri(:,end); |
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| 152 | tempSup(end,:) = ImgInfo1.Model.PlaneParaInfo.SupOri(end,:); |
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| 153 | ImgInfo1.Model.PlaneParaInfo.SupOri = tempSup; |
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| 154 | |
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| 155 | tempSup = ImgInfo2.Model.PlaneParaInfo.SupOri; |
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| 156 | tempSup( Img2IndexField( Img2IndexFieldOutliers)) = 0; |
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| 157 | tempSup(:,end) = ImgInfo2.Model.PlaneParaInfo.SupOri(:,end); |
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| 158 | tempSup(end,:) = ImgInfo2.Model.PlaneParaInfo.SupOri(end,:); |
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| 159 | ImgInfo2.Model.PlaneParaInfo.SupOri = tempSup; |
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| 160 | |
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| 161 | tempSup = ImgInfo2.Model.PlaneParaInfo.SupOri; |
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| 162 | tempSup( Img2IndexTarget( Img2IndexTargetOutliers)) = 0; |
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| 163 | tempSup(:,end) = ImgInfo2.Model.PlaneParaInfo.SupOri(:,end); |
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| 164 | tempSup(end,:) = ImgInfo2.Model.PlaneParaInfo.SupOri(end,:); |
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| 165 | ImgInfo2.Model.PlaneParaInfo.SupOri = tempSup; |
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| 166 | |
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| 167 | tempSup = ImgInfo1.Model.PlaneParaInfo.SupOri; |
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| 168 | tempSup( Img1IndexField( Img1IndexFieldOutliers)) = 0; |
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| 169 | tempSup(:,end) = ImgInfo1.Model.PlaneParaInfo.SupOri(:,end); |
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| 170 | tempSup(end,:) = ImgInfo1.Model.PlaneParaInfo.SupOri(end,:); |
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| 171 | ImgInfo1.Model.PlaneParaInfo.SupOri = tempSup; |
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| 172 | |
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| 173 | |
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| 174 | % assign model1 and model2 |
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| 175 | model1 = ImgInfo1.Model; |
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| 176 | model2 = ImgInfo2.Model; |
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| 177 | |
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| 178 | return; |
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| 179 | |
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