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synthesize_nonuniform_blur.m
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synthesize_nonuniform_blur.m
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function blur_img = synthesize_nonuniform_blur(img, info_data, gyro_data)
img= im2double(img);
bd = 20; %% tmp
img_pad = padarray(img, [bd, bd], 'replicate', 'both');
num_row = size(img_pad, 1);
num_col = size(img_pad, 2);
time_interval = 0.01;
% set up start and end time
st_time = info_data(1, 3) + (-8) * time_interval - info_data(1, 2);
ed_time = info_data(1, 3) + (-8) * time_interval;
valid_row = 1:size(gyro_data, 1);%find(gyro_data(:, end) < ed_time + time_interval);
% interpolate
portion = 3;%ceil(1/infoData(1,2));
intervalAfterTime = time_interval/portion;
% linear interpolation
tempInd = 1:portion:1+(length(valid_row)-1)*portion;
x = tempInd;
v = gyro_data(valid_row,1:end);
xq = 1:1+(length(valid_row)-1)*portion;
vq = interp1(x,v,xq);
gyroInterData = vq;
% compute angular velocity
avelInter = gyroInterData(2:end,4:6).*repmat((gyroInterData(2:end,end)- ...
gyroInterData(1:end-1,end)),[1,3]);
avelInter = cumsum(avelInter)/1;
% switch the tx ty for headleft
tmp = gyroInterData(:,1);
gyroInterData(:,1) = -gyroInterData(:,2);
gyroInterData(:,2) = tmp;
% compute velocity
comDrift = [0,0.00,0];
velInter = (gyroInterData(2:end,1:3)-repmat(comDrift,[size(gyroInterData,1)-1,1]))...
.*repmat((gyroInterData(2:end,end)- gyroInterData(1:end-1,end)),[1,3]);
velInter = cumsum(velInter*9.8);
% initial speed
initialSpeed = [0,0,0];
velInter = velInter + repmat(initialSpeed,[size(velInter,1),1]);
% compute the position
activeRow = intersect(find(gyroInterData(:,end)<ed_time+time_interval),...
find(gyroInterData(:,end)>=st_time));
gyroInterData = gyroInterData(activeRow,:);
activeRow(end)=[];
rotInter = avelInter(activeRow,:).*repmat((gyroInterData(2:end,end)...
- gyroInterData(1:end-1,end)),[1,3]);
rotInter = cumsum(rotInter);
tranInter = velInter(activeRow,:).*repmat((gyroInterData(2:end,end)...
- gyroInterData(1:end-1,end)),[1,3]);
tranInter = cumsum(tranInter)/1;
pixelPitch = 1e-5;
poseInter = [tranInter,avelInter(activeRow,:)];
poseInter = poseInter - repmat(poseInter(1,:),[size(poseInter,1),1]);
if(1)
factor = [1,1,1,-1,-1,-1];
else
factor = [1,1,1,1,1,1];
end
poseInter = poseInter.*repmat(factor,[size(poseInter,1),1]);
ox = 0;
oy = 0;
rotCen = [0,0,0,ox,oy,0];
poseInterOff = poseInter + repmat(rotCen,[size(poseInter,1),1]);
fprintf('Generate local PSF...\n');
data = poseInterOff;
N_pose = size(data,1);
weight = 1/N_pose;
m = num_row;
n = num_col;
K = sparse([],[],[],m*n,m*n);
for j = 1:N_pose
pose = [data(j,4),data(j,5),data(j,6),data(j,1),data(j,2),data(j,3)];
K_mat = compute_Kpose_6D(m,n,pose,1);
K = K + weight * K_mat;
end
blur_img = img_pad;
for c = 1:size(img_pad, 3)
img_vector = img_pad(:, :, c);
img_vector = K * img_vector(:);
blur_img(:, :, c) = reshape(img_vector, num_row, num_col);
end
blur_img = blur_img(1+bd:end-bd, 1+bd:end-bd, :);
end