source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/LaserDataCollection/makeDepthImages_1.m @ 37

% *  This code was used in the following articles:
% *  [1] Learning 3-D Scene Structure from a Single Still Image, 
% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng, 
% *      In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
% *      (best paper)
% *  [2] 3-D Reconstruction from Sparse Views using Monocular Vision, 
% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng, 
% *      In ICCV workshop on Virtual Representations and Modeling 
% *      of Large-scale environments (VRML), 2007. 
% *  [3] 3-D Depth Reconstruction from a Single Still Image, 
% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. 
% *      International Journal of Computer Vision (IJCV), Aug 2007. 
% *  [6] Learning Depth from Single Monocular Images, 
% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. 
% *      In Neural Information Processing Systems (NIPS) 18, 2005.
% *
% *  These articles are available at:
% *  http://make3d.stanford.edu/publications
% * 
% *  We request that you cite the papers [1], [3] and [6] in any of
% *  your reports that uses this code. 
% *  Further, if you use the code in image3dstiching/ (multiple image version),
% *  then please cite [2].
% *  
% *  If you use the code in third_party/, then PLEASE CITE and follow the
% *  LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
% *
% *  Finally, this code is for non-commercial use only.  For further 
% *  information and to obtain a copy of the license, see 
% *
% *  http://make3d.stanford.edu/publications/code
% *
% *  Also, the software distributed under the License is distributed on an 
% * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either 
% *  express or implied.   See the License for the specific language governing 
% *  permissions and limitations under the License.
% *
% */
function makeDepthImages(dataNumber, displayFlag)

if nargin < 2
    displayFlag = false;
end
if nargin < 1
    dataNumber = 1;
end
%       if dataNumber == 10
%           waithere = 1;
%       end
    %% we first read the log file and then read the depth values in a
%% two-dimensional array after binning and averaging values for each bin
%% value
homeData='/afs/cs/group/reconstruction3d/Data/Dataset_July7/scenario';
depthDirectory = strcat(homeData,num2str(dataNumber),'/');
imgDirectory = strcat(homeData,num2str(dataNumber),'/');
%Win05:
% system([ 'cat ' depthDirectory depthFilename ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFilename 'cleaned']);
% Above command is passed in Linux to clear the text, leaving only numbers, which can be directly
% imported into Matlab by using File > Import Data
    dirList = dir([depthDirectory '*.txt']);
    depthFileInitialname = dirList(1).name;
    
%     system([ 'cat ' depthDirectory depthFileInitialname ' | sed /PTLASER/\d | cat > ' depthDirectory depthFileInitialname 'image1']);
%     system([ 'cat ' depthDirectory depthFileInitialname 'image1' ' | sed s/IMAGE/\/g | cat > ' depthDirectory depthFileInitialname 'image2']);
%     system([ 'cat ' depthDirectory depthFileInitialname 'image2' ' | sed s/data/\\n\data/g | cat > ' depthDirectory depthFileInitialname 'image3']);
%     system([ 'cat ' depthDirectory depthFileInitialname 'image3' ' | sed /data/\d | cat > ' depthDirectory depthFileInitialname 'image']);
% 
%     system([ 'cat ' depthDirectory depthFileInitialname ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFileInitialname 'cleaned1']);
%     system([ 'cat ' depthDirectory depthFileInitialname 'cleaned1' ' | sed /IMAGE/\d | cat > ' depthDirectory depthFileInitialname 'cleaned']);
% 
%     system([ 'rm ' depthDirectory depthFileInitialname 'cleaned1']);
%     system([ 'rm ' depthDirectory depthFileInitialname 'image1']);
%     system([ 'rm ' depthDirectory depthFileInitialname 'image2']);
%     system([ 'rm ' depthDirectory depthFileInitialname 'image3']);
    
    depthFilename = strcat(depthFileInitialname,'cleaned');
    imageFileForAnglesName = strcat(depthFileInitialname,'image');
rawDepth = load([depthDirectory depthFilename]); %load([directory 'log' num2str(dataNumber) '.mat']);
imageAngList = load([depthDirectory imageFileForAnglesName]);
floor(rawDepth(1,2))
if (floor(rawDepth(1,2))<-184)
    beginAngD=-202.7;
    angShiftForImg=31;
elseif (floor(rawDepth(1,2))<-180)
    beginAngD=-200.4;
    angShiftForImg=31.1;
elseif (floor(rawDepth(1,2))<-40)
    beginAngD=-13.8;
    angShiftForImg=31;
end


for imageNumber=1:length(imageAngList)
    
        centerAngle = beginAngD + imageNumber*angShiftForImg;
        
        %Win05: Recalculate these numbers by looking at images and depthmaps 
        laserAngleScan = 19;
        topAngle = 63; %% earlier 63
        botAngle = 63; %% if we make it 64, the left side of the image is more aligned, however if we make it 62, 
        %% the right siede of the image is more aligned, so we are choosing it to be 63
        leftAngle = 10;
        rightAngle = 7;
        horThetaStep = 0.125; %.5
        
        % close all;
        % depthDirectory = './dataset1/';
        % imgDirectory = './dataset1/';
        % 
        % if uniqueCode > 0
        %     dirList = dir([depthDirectory '*.txt']);
        %     depthFilename = dirList(uniqueCode).name;
        
%       depthDirectory = './dataset1/';
%       imgDirectory = './dataset1/';
        %Win05:
        % system([ 'cat ' depthDirectory depthFilename ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFilename 'cleaned']);
        % Above command is passed in Linux to clear the text, leaving only numbers, which can be directly
        % imported into Matlab by using File > Import Data
        
%         dirList = dir([depthDirectory '*.txt']);
%         depthFilename = dirList(1).name;
%       %     use to remove PTLASER text from files
%       %     system([ 'cat ' depthDirectory depthFilename ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFilename 'cleaned']);
%         depthFilename = strcat(depthFilename,'cleaned');
%       %     dirList = dir([imgDirectory '*right*.jpg']);
        imagePanAngD=imageAngList(:,2);
        imagePanAngD=(imagePanAngD<-180).*(imagePanAngD+360)+(imagePanAngD>-180).*(imagePanAngD);
        imagePanAngRndD = round(imageAngList(:,2));
        dirList = dir([imgDirectory strcat('*',num2str(abs(imagePanAngRndD(imageNumber))),'*.jpg')]);

%         dirList = dir([imgDirectory '*.jpg']);
%         %dirList = dir([imgDirectory 'packard1_10-28-05right*.jpg']);
%         imNumber = -imageNumber+7;
%         if imNumber <=0
%             imNumber = imNumber+12;
%         end
    imageFilename = dirList(1).name;
        %% 5 is 1 going down and coming back in a circle from 12
        
%       rawDepth = load([depthDirectory depthFilename]); %load([directory 'log' num2str(dataNumber) '.mat']);
        x = (centerAngle-laserAngleScan):horThetaStep:(centerAngle+laserAngleScan);
        
        sizeHor = round( (-min(rawDepth(:,2)) + max(rawDepth(:,2) ) )/ horThetaStep );
        quantizedRawDepth = zeros( length(x), size(rawDepth,2)-4 );
        angleIndex = 0;
        
        for xc = (centerAngle-laserAngleScan):horThetaStep:(centerAngle+laserAngleScan)
        if (xc>max(rawDepth(:,2)))
            x=xc-360;
                elseif (xc<min(rawDepth(:,2)))
            x=xc+360;
                else
            x=xc;
        end
        [tmp ind] = min( abs( rawDepth(:,2) - x) );
                %Win05: I remember 2nd column contained the time stamp, therefore it basically matches 
                % the timestamp
        %IMPROVEMENT: instead of nearest one, do AVERAGING
        angleIndex = angleIndex + 1;
        quantizedRawDepth(angleIndex,:) = rawDepth(ind, 5:size(rawDepth,2) );
                %Win05: 5 because first 4 numbers are not useful
        end
        
        clippedDepth = quantizedRawDepth( size(quantizedRawDepth,1):-1:1, ...
            (size(quantizedRawDepth,2)-topAngle):-1:botAngle )';
        
        min(clippedDepth(:));
        depthMap = (clippedDepth);    
        %depthImg = clippedDepth .^ (1/3);    
        % displayDepthMaps(depthMap);
        % figure;
        % imshow(A);
        
        if displayFlag
        A = imread([imgDirectory imageFilename]); %A = imread([directory 'img-' num2str(dataNumber) '.jpg']);
%         A=imrotate(A,-90);
        
        %         %subplot(1,2,1);
        %         image(A);
        %         axis square;
        %         %subplot(1,2,2); 
        %         figure,
        %         imagesc( depthMap( :, leftAngle:(size(depthMap,2)-rightAngle) ) .^ (1/3) );
        %         axis square;
                
                
                % image A = size(500,500,3 ), dephmap D = size(25,25), D_high = imresize(D, 500, 500, 'nearest')
                % B = rgb2ycbcr(A); B(:,:,2) = scaling factor * D_high, % set color channel tp depthmap.
                % imagesc(A), axis equal; imagesc(B), axis equal; displaydepthMap(D);
                % subplot(2,2,..)
                
                
                % size(A)
                % size(depthMap)
                % D_high = imresize(depthMap, [size(A,1) size(A,2)], 'nearest');
                % minDistance = min(min(D_high));
                % maxDistance = max(max(D_high));
                % B = rgb2hsv(A); 
                % scaling_factor = 1/maxDistance;
                % B(:,:,1) = scaling_factor*D_high;
                % % B(:,:,2) = scaling_factor*D_high; % The scaling factor should be chosen such that values are in between
                % %% 0 and 255? Here we set color channel to depthmap.
                % % 
                % figure;
                % subplot(1,2,1);
                % imagesc(A), axis equal; 
                % 
                % %% copying from displayDepthMap
                % 
                % jetMap = jet;
                % % close;
                % jetMap = 1-jetMap(end:-1:1,:);
                % jetMap = jetMap(end:-1:1,:);
                % jetMap = imresize(jetMap, [256 3], 'bilinear');
                % displayNorm = size(jetMap,1);
                % warning off;
                % D_high = uint8( displayNorm* (D_high - minDistance) / (maxDistance - minDistance) );
                % warning on;
                % subplot(1,2,2);
                % imagesc( D_high ); axis equal; colormap( jetMap );    axis off;   axis tight;
                % 
                % figure; %subplot(2,2,2);
                % imagesc(B), axis equal; 
                
        %       size(A)
        %       size(depthMap)
                D_high = imresize(depthMap, [size(A,1) size(A,2)], 'nearest');
        %       B = rgb2hsv(A); 
                B = rgb2ycbcr(A);
                scaling_factor = 3;
                B(:,:,2) = scaling_factor*D_high; % The scaling factor should be chosen such that values are in between
                % 0 and 255? Here we set color channel to depthmap.
                
                figure;
                subplot(1,2,1);
                imagesc(A), axis equal; 
                
                % copying from displayDepthMap
                
                minDistance = min(min(D_high));
                maxDistance = max(max(D_high));
                jetMap = jet;
        %       close;
                jetMap = 1-jetMap(end:-1:1,:);
                jetMap = jetMap(end:-1:1,:);
                jetMap = imresize(jetMap, [256 3], 'bilinear');
                displayNorm = size(jetMap,1);
                warning off;
                D_high = uint8( displayNorm* (D_high - minDistance) / (maxDistance - minDistance) );
                warning on;
                subplot(1,2,2);
                imagesc( D_high ); axis equal; colormap( jetMap );    axis off;   axis tight;
                
                figure; %subplot(2,2,2);
                imagesc(B), axis equal;
        end
        
%       if imageNumber == 5
%           waithere = 1;
%       end
        % displaydepthMap(D);
        % 
        % subplot(2,2,..);
        
        directory = '/afs/cs/group/reconstruction3d/scratch/Min/rawlaserdata/';
        save([directory strrep(strrep(imageFilename,'img','depth'),'.jpg','.mat')], 'depthMap' );
%       save([directory strrep(strrep(imageFilename,'img','depth_high_res'),'.jpg','.mat')], 'D_high' );
        % save([directory 'calculatedDepthData-' num2str(dataNumber) '.mat'], 'depthMap' );
        % imwrite( depthMap/ max(depthMap(:) ), [directory 'calculatedDepthImgSet2-' num2str(dataNumber) '.jpg']);
end