1 | % * This code was used in the following articles:
|
---|
2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
|
---|
3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
|
---|
5 | % * (best paper)
|
---|
6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
|
---|
7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
8 | % * In ICCV workshop on Virtual Representations and Modeling
|
---|
9 | % * of Large-scale environments (VRML), 2007.
|
---|
10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
|
---|
11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
|
---|
13 | % * [6] Learning Depth from Single Monocular Images,
|
---|
14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
|
---|
16 | % *
|
---|
17 | % * These articles are available at:
|
---|
18 | % * http://make3d.stanford.edu/publications
|
---|
19 | % *
|
---|
20 | % * We request that you cite the papers [1], [3] and [6] in any of
|
---|
21 | % * your reports that uses this code.
|
---|
22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
|
---|
23 | % * then please cite [2].
|
---|
24 | % *
|
---|
25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
|
---|
26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
|
---|
27 | % *
|
---|
28 | % * Finally, this code is for non-commercial use only. For further
|
---|
29 | % * information and to obtain a copy of the license, see
|
---|
30 | % *
|
---|
31 | % * http://make3d.stanford.edu/publications/code
|
---|
32 | % *
|
---|
33 | % * Also, the software distributed under the License is distributed on an
|
---|
34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
---|
35 | % * express or implied. See the License for the specific language governing
|
---|
36 | % * permissions and limitations under the License.
|
---|
37 | % *
|
---|
38 | % */
|
---|
39 | function makeDepthImagesSph_ImgbyImg(dataNumber, displayFlag) |
---|
40 | % global depthBins; |
---|
41 | % global countBuf; |
---|
42 | if nargin < 2 |
---|
43 | displayFlag = false; |
---|
44 | end |
---|
45 | if nargin < 1 |
---|
46 | dataNumber = 1; |
---|
47 | end |
---|
48 | %% we first read the log file and then read the depth values in a |
---|
49 | %% two-dimensional array after binning and averaging values for each bin |
---|
50 | %% value |
---|
51 | depthDirectory = '.\dataset5\'; |
---|
52 | imgDirectory = '.\dataset5\'; |
---|
53 | vrmlDirectory = strcat(depthDirectory,'vrml/'); |
---|
54 | |
---|
55 | %Win05: |
---|
56 | % system([ 'cat ' depthDirectory depthFilename ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFilename 'cleaned']); |
---|
57 | % Above command is passed in Linux to clear the text, leaving only numbers, which can be directly |
---|
58 | % imported into Matlab by using File > Import Data |
---|
59 | dirList = dir([depthDirectory '*.txt']); |
---|
60 | depthFileInitialname = dirList(dataNumber).name; |
---|
61 | |
---|
62 | % system([ 'cat ' depthDirectory depthFileInitialname ' | sed /PTLASER/\d | cat > ' depthDirectory depthFileInitialname 'image1']); |
---|
63 | % system([ 'cat ' depthDirectory depthFileInitialname 'image1' ' | sed s/IMAGE/\/g | cat > ' depthDirectory depthFileInitialname 'image2']); |
---|
64 | % system([ 'cat ' depthDirectory depthFileInitialname 'image2' ' | sed s/data/\\n\data/g | cat > ' depthDirectory depthFileInitialname 'image3']); |
---|
65 | % system([ 'cat ' depthDirectory depthFileInitialname 'image3' ' | sed /data/\d | cat > ' depthDirectory depthFileInitialname 'image']); |
---|
66 | % |
---|
67 | % system([ 'cat ' depthDirectory depthFileInitialname ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFileInitialname 'cleaned1']); |
---|
68 | % system([ 'cat ' depthDirectory depthFileInitialname 'cleaned1' ' | sed /IMAGE/\d | cat > ' depthDirectory depthFileInitialname 'cleaned']); |
---|
69 | % |
---|
70 | % system([ 'rm ' depthDirectory depthFileInitialname 'cleaned1']); |
---|
71 | % system([ 'rm ' depthDirectory depthFileInitialname 'image1']); |
---|
72 | % system([ 'rm ' depthDirectory depthFileInitialname 'image2']); |
---|
73 | % system([ 'rm ' depthDirectory depthFileInitialname 'image3']); |
---|
74 | depthFilename = strcat(depthFileInitialname,'cleaned'); |
---|
75 | imageFileForAnglesName = strcat(depthFileInitialname,'image'); |
---|
76 | rawDepth = load([depthDirectory depthFilename]); %load([directory 'log' num2str(dataNumber) '.mat']); |
---|
77 | imageAngList = load([depthDirectory imageFileForAnglesName]); |
---|
78 | %% now we make the bins and store the rawDepth values in the appropriate |
---|
79 | %% bins |
---|
80 | panStartAngD = -185;%rawDepth(1,2); |
---|
81 | panEndAngD = 185;%rawDepth(end,2); |
---|
82 | sweepStartAngD= -90; |
---|
83 | sweepEndAngD = 90; |
---|
84 | panRange = panEndAngD-panStartAngD; |
---|
85 | sweepRange = sweepEndAngD-sweepStartAngD; |
---|
86 | |
---|
87 | panBinResD = .125; %panRange/size(rawDepth,1); |
---|
88 | sweepBinResD= 1; %sweepRange/rawDepth(1,4); |
---|
89 | panBins = ceil(panRange/panBinResD); |
---|
90 | sweepBins = ceil(sweepRange/sweepBinResD); |
---|
91 | depthBins = zeros(panBins,sweepBins); |
---|
92 | countBuf = zeros(panBins,sweepBins); |
---|
93 | [depthBins,countBuf,minDepth]=readLogFileForDepth(rawDepth,depthBins,countBuf, ... |
---|
94 | panEndAngD,panBinResD,sweepEndAngD,sweepBinResD); |
---|
95 | %% trim depth buffer to remove zero columns |
---|
96 | [depthBins,countBuf,panStartTrim,panEndTrim,sweepStartTrim,sweepEndTrim]=trimDepthBuf(depthBins,countBuf,panBins,sweepBins); |
---|
97 | panBins=size(depthBins,1); |
---|
98 | sweepBins=size(depthBins,2); |
---|
99 | panStartAngD = -185+(panStartTrim*panBinResD);%rawDepth(1,2); |
---|
100 | panEndAngD = 185-(panEndTrim*panBinResD);%rawDepth(end,2); |
---|
101 | sweepStartAngD= -90+(sweepStartTrim*sweepBinResD); |
---|
102 | sweepEndAngD = 90-(sweepEndTrim*sweepBinResD); |
---|
103 | panRange = panEndAngD-panStartAngD; |
---|
104 | sweepRange = sweepEndAngD-sweepStartAngD; |
---|
105 | %% we now check for validity of the buffer |
---|
106 | [depthBins,countBuf]=checkIfValid(depthBins,countBuf,size(depthBins,1), ... |
---|
107 | size(depthBins,2),minDepth); |
---|
108 | clear countBuf; |
---|
109 | %% we now do the triangle making |
---|
110 | %% for the time being we are skipping this part |
---|
111 | %% now for every i,j in the depth map, we need to find the x_im and y_im, |
---|
112 | %% based on the format that Min wants it in i.e. lets say that the image |
---|
113 | %% lines between (0,0), (1,0), (1,1) and (0,1) going counter clockwise with |
---|
114 | %% the bottom left point of the image being (0,0), and so the top left |
---|
115 | %% point being (0,1) |
---|
116 | % image2LaserPanAngleOffsetD = 0; %% check if this is 0 by trial and error |
---|
117 | % panImageStartAngD = -180; |
---|
118 | % panImageEndAngD = 180; |
---|
119 | % sweepImageStartAngD = 67-90; |
---|
120 | % sweepImageEndAngD = (180-68)-90; |
---|
121 | % panBinIdxStart=floor((panEndAngD-panImageStartAngD)/panBinResD); |
---|
122 | % panBinIdxEnd=floor((panEndAngD-panImageEndAngD)/panBinResD); |
---|
123 | % sweepBinIdxStart=floor((sweepEndAngD-sweepImageStartAngD)/sweepBinResD); |
---|
124 | % sweepBinIdxEnd=floor((sweepEndAngD-sweepImageEndAngD)/sweepBinResD); |
---|
125 | |
---|
126 | laserPanAxisOffset = 0.2; |
---|
127 | laserTiltAxisOffset = 0.155; |
---|
128 | rigHeight = 1.5; |
---|
129 | distCoeffs = [-0.068382333138247237 -0.54357925933026252 -0.0029516085790312376 ... |
---|
130 | -0.00024597914695977276]; |
---|
131 | D2R = (pi/180); |
---|
132 | fx = 2400.2091651084; |
---|
133 | fy = 2407.3312729885838; |
---|
134 | Ox = 1110.7122391785729;%2272/2; % |
---|
135 | Oy = 833.72104535435108;%1704/2; % |
---|
136 | camIntMat = [ -fx, 0.0, Ox; |
---|
137 | 0.0, -fy, Oy; |
---|
138 | 0.0, 0.0, 1.0 ]; |
---|
139 | UNDISTORT = 1; |
---|
140 | rollInit = pi; |
---|
141 | pitchInit = -pi/2; |
---|
142 | yawInit = 0.0; |
---|
143 | camPanAxisOffset = 0.20; |
---|
144 | camTiltAxisOffset = 0.155; |
---|
145 | imagePanAngD = imageAngList(:,2); |
---|
146 | imagePanAngD = (imagePanAngD<-180).*(imagePanAngD+360)+... |
---|
147 | (imagePanAngD>-180).*(imagePanAngD); |
---|
148 | imagePanAngRndD = round(imageAngList(:,2)); |
---|
149 | imageRangeAngD = 21; |
---|
150 | R = eulerAngles(rollInit,pitchInit,yawInit); |
---|
151 | %% roll is along the x-axis, pitch is along the y-axis and yaw is along |
---|
152 | %% the z axis |
---|
153 | t = [camPanAxisOffset 0.0 camTiltAxisOffset]; |
---|
154 | camPos = [R t'; 0 0 0 1]; |
---|
155 | camExtMat1 = inv(camPos); |
---|
156 | for imNum=1:length(imagePanAngD) |
---|
157 | image2LaserPanAngleOffsetD = 0; %% check if this is 0 by trial and error |
---|
158 | dirList = dir([imgDirectory strcat('*', ... |
---|
159 | num2str(abs(imagePanAngRndD(imNum))),'*.jpg')]); |
---|
160 | if (length(dirList)==0) |
---|
161 | problem_list=1 |
---|
162 | end |
---|
163 | imageFilename = dirList(1).name; |
---|
164 | depthPixelFilename=regexprep(imageFilename,'img','depth_triangle'); |
---|
165 | depthPixelFilename=regexprep(depthPixelFilename,'.jpg','.mat'); |
---|
166 | depthPixelFilename=strcat(depthDirectory,depthPixelFilename); |
---|
167 | |
---|
168 | vrmlFilename=regexprep(imageFilename,'img','vrml_faceset'); |
---|
169 | vrmlFilename=regexprep(vrmlFilename,'.jpg','.wrl'); |
---|
170 | % vrmlFilename=strcat(vrmlDirectory,vrmlFilename); |
---|
171 | |
---|
172 | imagePanAngCurrentD=(round(imagePanAngD(imNum)/panBinResD))*panBinResD; |
---|
173 | panImageStartAngD = imagePanAngCurrentD-imageRangeAngD; |
---|
174 | panImageEndAngD = imagePanAngCurrentD+imageRangeAngD; |
---|
175 | sweepImageStartAngD = 63-90; |
---|
176 | sweepImageEndAngD = (180-63)-90; |
---|
177 | pixelCount = 1; |
---|
178 | ltCount = 1; |
---|
179 | rtCount = 1; |
---|
180 | |
---|
181 | panCount=1; |
---|
182 | % imageFilenamePrev=' '; |
---|
183 | for panBinAngleLoopD=panImageStartAngD:panBinResD:(panImageEndAngD+panBinResD) |
---|
184 | panBinAngleLoopDt=panBinAngleLoopD; |
---|
185 | if panBinAngleLoopD<-180 %% wrap around |
---|
186 | panBinAngleLoopDt=panBinAngleLoopD+360; |
---|
187 | end |
---|
188 | if panBinAngleLoopD>180 %% wrap around |
---|
189 | panBinAngleLoopDt=panBinAngleLoopD-360; |
---|
190 | end |
---|
191 | panBinIdx=floor((panEndAngD-panBinAngleLoopDt)/panBinResD); |
---|
192 | sweepCount=1; |
---|
193 | for sweepBinAngleLoopD=sweepImageStartAngD:sweepBinResD:(sweepImageEndAngD+sweepBinResD) |
---|
194 | %% find if the row number is odd |
---|
195 | %% if it is then two points are for left triangle and even |
---|
196 | %% points for right triangle |
---|
197 | %% if the row number is even, then two points are for right |
---|
198 | %% triange and one is for left triangle |
---|
199 | %% in this way we make the triangles, they look like |
---|
200 | %% ---* |
---|
201 | %% | /* |
---|
202 | %% |/** |
---|
203 | |
---|
204 | sweepBinIdx=floor((sweepEndAngD-sweepBinAngleLoopD)/sweepBinResD); |
---|
205 | %% we now calculate the world coordinate point from depth buffer |
---|
206 | if ((panBinIdx>size(depthBins,1))||(panBinIdx<1)||... |
---|
207 | (sweepBinIdx>size(depthBins,2))||(sweepBinIdx<1)) |
---|
208 | waithere = 1 |
---|
209 | end |
---|
210 | depthVal = depthBins(panBinIdx,sweepBinIdx); |
---|
211 | Wcoord=calcPointFromDepthBuf(depthVal,panBinIdx,sweepBinIdx, ... |
---|
212 | panEndAngD,panBins,panRange,sweepEndAngD,sweepBins, ... |
---|
213 | sweepRange,laserPanAxisOffset,laserTiltAxisOffset,rigHeight); |
---|
214 | Wcoord_vec(panCount,sweepCount,:)=Wcoord; |
---|
215 | |
---|
216 | % %% once we have the world coordinates, we get the color |
---|
217 | % %% corresponding to these world coordinates |
---|
218 | % %% which is the same as finding the x_im and y_im in the correct |
---|
219 | % %% image |
---|
220 | % %% so the first step will be to find the right image |
---|
221 | % currPanAngD = panEndAngD-(panBinIdx/panBins)*panRange; |
---|
222 | % currPanAngD = (currPanAngD+image2LaserPanAngleOffsetD); |
---|
223 | % if (currPanAngD>180) |
---|
224 | % currPanAngD = currPanAngD-360; |
---|
225 | % elseif (currPanAngD<-180) |
---|
226 | % currPanAngD = currPanAngD+360; |
---|
227 | % end |
---|
228 | % [temp1,temp2]=min(abs(imagePanAngD-currPanAngD)); |
---|
229 | % rightImageNum = imagePanAngRndD(temp2); |
---|
230 | % if (imageFilenamePrev~=imageFilename) |
---|
231 | % A = imread([imgDirectory imageFilename]); |
---|
232 | % imageFilenamePrev=imageFilename; |
---|
233 | % end |
---|
234 | |
---|
235 | %% the definition of roll, pitch and yaw needs to be checked with |
---|
236 | %% Kyle |
---|
237 | panAngR = imagePanAngD(imNum)*D2R; |
---|
238 | tiltAngR = imageAngList(imNum,3)*D2R; |
---|
239 | [pixel, isCorrect] = getPixelCoords(Wcoord,panAngR,tiltAngR, ... |
---|
240 | rigHeight,distCoeffs,camIntMat,UNDISTORT,camExtMat1); |
---|
241 | Pixel_vec(panCount,sweepCount,:)=[pixel isCorrect]; |
---|
242 | |
---|
243 | %% the storage format in the pixelreservoir is to store for each |
---|
244 | %% value of panBinIdx and sweepBinIdx, the imageNumber and the |
---|
245 | %% pixel values in that image |
---|
246 | if (isCorrect == true) |
---|
247 | pixelReservoir(pixelCount,:)=[Wcoord pixel depthVal]; |
---|
248 | pixelCount=pixelCount+1; |
---|
249 | end |
---|
250 | if ((panCount/2)==floor(panCount/2)) %% panCount is even |
---|
251 | %% now we just keep on checking for every sweepCount |
---|
252 | if ((sweepCount/2)~=floor(sweepCount/2)) %% sweepCount in odd, so one left triangle has been completed |
---|
253 | if((Pixel_vec(panCount-1,sweepCount,3)==true)&&(Pixel_vec(panCount-1,sweepCount+1,3)==true)&&(Pixel_vec(panCount,sweepCount,3)==true)) |
---|
254 | leftTriangle(ltCount,1,:)=assignTriangleValues(Pixel_vec(panCount-1,sweepCount,1:2), Wcoord_vec(panCount-1,sweepCount,1:3)); |
---|
255 | leftTriangle(ltCount,2,:)=assignTriangleValues(Pixel_vec(panCount-1,sweepCount+1,1:2), Wcoord_vec(panCount-1,sweepCount+1,1:3)); |
---|
256 | leftTriangle(ltCount,3,:)=assignTriangleValues(Pixel_vec(panCount,sweepCount,1:2), Wcoord_vec(panCount,sweepCount,1:3)); |
---|
257 | ltCount=ltCount+1; |
---|
258 | end |
---|
259 | else %% one right triangle has been complete |
---|
260 | if ((Pixel_vec(panCount-1,sweepCount,3)==true)&&(Pixel_vec(panCount,sweepCount-1,3)==true)&&(Pixel_vec(panCount,sweepCount,3)==true)) |
---|
261 | rightTriangle(rtCount,1,:)=assignTriangleValues(Pixel_vec(panCount-1,sweepCount,1:2), Wcoord_vec(panCount-1,sweepCount,1:3)); |
---|
262 | rightTriangle(rtCount,2,:)=assignTriangleValues(Pixel_vec(panCount,sweepCount-1,1:2), Wcoord_vec(panCount,sweepCount-1,1:3)); |
---|
263 | rightTriangle(rtCount,3,:)=assignTriangleValues(Pixel_vec(panCount,sweepCount,1:2), Wcoord_vec(panCount,sweepCount,1:3)); |
---|
264 | rtCount=rtCount+1; |
---|
265 | end |
---|
266 | end |
---|
267 | end |
---|
268 | |
---|
269 | sweepCount=sweepCount+1; |
---|
270 | end |
---|
271 | panCount=panCount+1; |
---|
272 | end |
---|
273 | clear Pixel_vec; |
---|
274 | clear Wcoord_vec; |
---|
275 | |
---|
276 | depthMapXRes=55; |
---|
277 | depthMapYRes=305; |
---|
278 | |
---|
279 | % [pseudoDepthMap] = sortPixel(pixelReservoir,depthMapXRes,depthMapYRes); |
---|
280 | generate_vrml_faceset_triangle(vrmlDirectory, vrmlFilename, '\dataset5\', imageFilename, leftTriangle, rightTriangle); |
---|
281 | % save(depthPixelFilename, 'leftTriangle', 'rightTriangle'); |
---|
282 | clear leftTriangle; |
---|
283 | clear rightTriangle; |
---|
284 | |
---|
285 | |
---|
286 | % pixelCount |
---|
287 | % plotKyleData(pseudoDepthMap,depthMapXRes,depthMapYRes, ... |
---|
288 | % imgDirectory,imageFilename) |
---|
289 | |
---|
290 | rtCount |
---|
291 | ltCount |
---|
292 | clear pixelReservoir; |
---|
293 | end |
---|
294 | % displayScenario(depthDirectory,imgDirectory); |
---|