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go_MIT.m
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% Copyright ©2013. The Regents of the University of California (Regents).
% All Rights Reserved. Permission to use, copy, modify, and distribute
% this software and its documentation for educational, research, and
% not-for-profit purposes, without fee and without a signed licensing
% agreement, is hereby granted, provided that the above copyright notice,
% this paragraph and the following two paragraphs appear in all copies,
% modifications, and distributions. Contact The Office of Technology
% Licensing, UC Berkeley, 2150 Shattuck Avenue, Suite 510, Berkeley, CA
% 94720-1620, (510) 643-7201, for commercial licensing opportunities.
%
% Created by Jonathan T Barron and Jitendra Malik, Electrical Engineering
% and Computer Science, University of California, Berkeley.
%
% IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT,
% SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS,
% ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF
% REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
%
% REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT
% LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
% PARTICULAR PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY,
% PROVIDED HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO
% PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
function [results, state, data, params, avg_err] = go_Solve(eval_string)
rand('twister',5489)
randn('state',0)
curdir = pwd;
if strcmp(curdir(1:10), '/Users/jon')
% compile
else
fprintf('not compiling\n');
try
maxNumCompThreads(1)
catch ME
fprintf('ERR: %s\n', ME.message);
end
end
if nargin == 0
eval_string = '';
end
CONSTANTS;
params.EVAL_STRING = eval_string;
eval(params.EVAL_STRING);
PARAMETERS;
fprintf('%s\n', params.EVAL_STRING);
eval(params.EVAL_STRING);
load(params.PRIOR_MODEL_STRING)
if params.SHAPE_FROM_SHADING
fprintf('params.multipliers.sfs = \n');
disp(params.multipliers.sfs)
else
fprintf('params.multipliers.reflectance = \n');
disp(params.multipliers.reflectance)
end
fprintf('params.multipliers.height = \n');
disp(params.multipliers.height)
fprintf('params.multipliers.light = \n');
disp(params.multipliers.light)
if isfield(params, 'EVAL_NAMES')
names = params.EVAL_NAMES;
else
% names = MIT_TEST;
% names = {'apple'};
% names = {'frog1'};
% names = {'paper1'};
% names = {'frog2'};
% names = {'turtle'};
% names = {'panther'};
% names = {'raccoon'};
% names = {'dinosaur'};
names = {'paper2'};
% names = {'cup2'};
% names = {'box'};
% names = {'sun'};
end
for name_i = 1:length(names)
name = names{name_i};
load([MIT_LABORATORY_FOLDER, name, '/Z.mat']);
clear lights
data.true.height = depth;
data.true.reflectance = imread([MIT_LABORATORY_FOLDER, name, '/reflectance.png']);
data.true.reflectance = double(data.true.reflectance) ./ double(intmax('uint16'));
if params.NATURAL_ILLUMINATION
data.true.shading = imread([MIT_NATURAL_FOLDER, name, '/shading_color.png']);
data.true.shading = double(data.true.shading) ./ double(intmax('uint16'));
data.true.im = imread([MIT_NATURAL_FOLDER, name, '/diffuse.png']);
data.true.im = double(data.true.im) ./ double(intmax('uint16'));
load([MIT_NATURAL_FOLDER, name, '/L.mat']);
data.true.light = L;
else
loaded = load([MIT_LABORATORY_FOLDER, name, '/shading_corrected_color.mat']);
data.true.shading = loaded.shading_correct;
data.true.im = imread([MIT_LABORATORY_FOLDER, name, '/diffuse.png']);
data.true.im = double(data.true.im) ./ double(intmax('uint16'));
load([MIT_LABORATORY_FOLDER, name, '/L.mat']);
data.true.light = color_lights.diffuse;
end
data.true.mask = all(imread([MIT_LABORATORY_FOLDER, name, '/mask.png']) > 0,3);
load([MIT_LABORATORY_FOLDER, name, '/crop_idx.mat'])
for field = {'height', 'reflectance', 'im', 'shading', 'mask'}
field = field{1};
data.true.(field) = data.true.(field)(crop_idx1, crop_idx2,:);
end
if ~params.USE_COLOR_IMAGES
data.true.reflectance = mean(data.true.reflectance,3);
data.true.shading = mean(data.true.shading,3);
data.true.im = mean(data.true.im,3);
data.true.light = mean(data.true.light,2);
params.NATURAL_ILLUMINATION = 0;
end
if params.RESIZE_INPUT ~= 1
sz_before = size(data.true.height);
Z = inpaintZ(data.true.height, 0, 1);
S = data.true.shading;
S(S==0) = nan;
S = inpaintZ(S, 1, 0);
A = data.true.reflectance;
A(A==0) = nan;
A = inpaintZ(A, 1, 0);
I = data.true.im;
I(I==0) = nan;
I = inpaintZ(I, 1, 0);
M = double(data.true.mask);
I = max(0, min(1, imresize(I, params.RESIZE_INPUT)));
S = max(0, min(1, imresize(S, params.RESIZE_INPUT)));
A = max(0, min(1, imresize(A, params.RESIZE_INPUT)));
Z = imresize(Z, params.RESIZE_INPUT)*params.RESIZE_INPUT;
% plot(Z2(end/2,:)); hold on; plot(Z(end/2,:)); hold on;
M = imresize(M, params.RESIZE_INPUT) > 0.5;
Z(~M) = nan;
I(repmat(~M, [1,1,size(I,3)])) = 0;
S(repmat(~M, [1,1,size(I,3)])) = 0;
A(repmat(~M, [1,1,size(I,3)])) = 0;
data.true.shading = S;
data.true.reflectance = A;
data.true.im = I;
data.true.mask = M;
data.true.height = Z;
end
im = data.true.im;
shading = data.true.shading;
valid = all(im > 0,3);
im(repmat(~valid, [1,1,size(im,3)])) = nan;
shading(repmat(~valid, [1,1,size(im,3)])) = nan;
log_im = log(im);
log_shading = log(shading);
data.true.im = im;
data.true.log_im = log_im;
data.true.log_shading = log_shading;
data.valid = valid;
data.Z_median_filter_mat = medianFilterMat_mask(~data.valid, params.Z_MEDIAN_HALFWIDTH);
data.A_median_filter_mat = medianFilterMat_mask(~data.valid, params.A_MEDIAN_HALFWIDTH);
data.Z_median_filter_mat_T = data.Z_median_filter_mat';
data.A_median_filter_mat_T = data.A_median_filter_mat';
data.border = getBorderNormals(data.true.mask);
data.true.normal = getNormals_conv(data.true.height);
if ~params.SOLVE_SHAPE
data.given.height = inpaintZ(data.true.height, 0, 1);
[data.given.normal, data.given.d_normal_Z] = getNormals_conv(data.given.height);
end
data.prior = prior;
for v = params.GLOBAL_VARS
eval(['global ', v{1}, ';']);
eval([v{1}, ' = [];']);
end
if params.NATURAL_ILLUMINATION
LIGHT_MODEL = 'natural';
else
LIGHT_MODEL = 'laboratory';
end
if params.USE_COLOR_IMAGES
data.prior.light = data.prior.lights.color.(LIGHT_MODEL);
else
data.prior.light = data.prior.lights.gray.(LIGHT_MODEL);
end
if params.USE_INIT_Z
sigma = params.INIT_Z_SIGMA;
pad = ceil(2.5*sigma);
Z = data.true.height;
Zp = nan(size(Z) + 2*pad);
Zp(pad + [1:size(Z,1)], pad + [1:size(Z,2)]) = Z;
Zp = inpaintZ(Zp, 0, 1);
f = exp(-([-pad : pad]/sigma).^2);
f = f ./ sum(f);
Zb = conv2(conv2(Zp, f(:), 'same'), f(:)', 'same');
Zb = Zb(pad + [1:size(Z,1)], pad + [1:size(Z,2)]);
data.Z_init = Zb;
data.Z_init(isnan(Z)) = nan;
end
start_time = clock;
params.LOSSFUN = 'lossfun_sirfs';
[state] = do_Solve(data, params);
state.solve_time = etime(clock, start_time);
if params.SHAPE_FROM_SHADING
[err] = getError_SFS(state, data.true)
else
[err] = getError(state, data.true)
end
results{name_i}.err = err;
results{name_i}.multipliers = params.multipliers;
results{name_i}.solve_time = state.solve_time;
state_pad = state;
state_pad.height = nan(crop_init_size);
if ~params.SHAPE_FROM_SHADING
state_pad.reflectance = nan([crop_init_size,size(state.reflectance,3)]);
state_pad.reflectance_exp = nan([crop_init_size,size(state.reflectance,3)]);
state_pad.reflectance_max = nan([crop_init_size,size(state.reflectance,3)]);
end
state_pad.shading = nan([crop_init_size,size(state.shading,3)]);
state_pad.normal = nan([crop_init_size,3]);
if params.RESIZE_INPUT ~= 1
state.shading = max(0, min(1, imresize(state.shading, sz_before)));
if ~params.SHAPE_FROM_SHADING
state.reflectance = max(0, min(1, imresize(inpaintZ(state.reflectance, 1, 0), sz_before)));
end
state.normal = imresize(state.normal, sz_before);
state.normal = bsxfun(@rdivide, state.normal, sqrt(sum(state.normal.^2,3)));
state.height = imresize(inpaintZ(state.height, 0, 1), sz_before)/params.RESIZE_INPUT;
data.valid = imresize(double(data.valid), sz_before)>0.5;
end
state_pad.height(crop_idx1, crop_idx2) = state.height;
if ~params.SHAPE_FROM_SHADING
state_pad.reflectance(crop_idx1, crop_idx2,:) = state.reflectance;
end
state_pad.shading(crop_idx1, crop_idx2,:) = state.shading;
state_pad.normal(crop_idx1, crop_idx2,:) = state.normal;
invalid = true(crop_init_size);
invalid(crop_idx1, crop_idx2) = ~data.valid;
state_pad.height(invalid) = nan;
if ~params.SHAPE_FROM_SHADING
state_pad.reflectance(repmat(invalid,[1,1,size(state_pad.reflectance,3)])) = nan;
end
state_pad.shading(repmat(invalid,[1,1,size(state_pad.shading,3)])) = nan;
state_pad.normal(repmat(invalid,[1,1,3])) = nan;
state = state_pad;
if ~isempty(params.DUMP_OUTPUT)
system(['mkdir ', params.DUMP_OUTPUT]);
save([params.DUMP_OUTPUT, '/', name, '.mat'], 'state');
end
end
if ~isempty(params.OUTPUT_FILENAME)
fprintf('Saving results and params to %s... ', params.OUTPUT_FILENAME);
save(params.OUTPUT_FILENAME, 'results', 'params');
fprintf('done.\n');
end
err = results{1}.err;
avg_err = [];
count = [];
for s = fieldnames(err)'
s = s{1};
avg_err.(s) = 0;
count.(s) = 0;
end
for i = 1:length(results)
err = results{i}.err;
for s = fieldnames(err)'
s = s{1};
avg_err.(s) = avg_err.(s) + log(err.(s));
count.(s) = count.(s) + 1;
end
end
for s = fieldnames(err)'
s = s{1};
avg_err.(s) = exp(avg_err.(s) / count.(s));
end