% * 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