[37] | 1 | % * This code was used in the following articles:
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| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
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| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
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| 5 | % * (best paper)
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| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
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| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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| 8 | % * In ICCV workshop on Virtual Representations and Modeling
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| 9 | % * of Large-scale environments (VRML), 2007.
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| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
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| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
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| 13 | % * [6] Learning Depth from Single Monocular Images,
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| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
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| 16 | % *
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| 17 | % * These articles are available at:
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| 18 | % * http://make3d.stanford.edu/publications
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| 19 | % *
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| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
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| 21 | % * your reports that uses this code.
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| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
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| 23 | % * then please cite [2].
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| 24 | % *
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| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
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| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
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| 27 | % *
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| 28 | % * Finally, this code is for non-commercial use only. For further
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| 29 | % * information and to obtain a copy of the license, see
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| 30 | % *
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| 31 | % * http://make3d.stanford.edu/publications/code
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| 32 | % *
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| 33 | % * Also, the software distributed under the License is distributed on an
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| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
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| 35 | % * express or implied. See the License for the specific language governing
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| 36 | % * permissions and limitations under the License.
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| 37 | % *
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| 38 | % */
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| 39 | function [depthBins,countBuf,minDepth]=readLogFileForDepth(rawDepth,depthBins,countBuf,panEndAngD,panBinResD,sweepEndAngD,sweepBinResD) |
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| 40 | |
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| 41 | minDepth=1000000; |
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| 42 | for i=1:size(rawDepth,1) |
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| 43 | for j=1:size(rawDepth,2)-4 |
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| 44 | panAngD=rawDepth(i,2); |
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| 45 | sweepAngD=(j-1)-90; |
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| 46 | depthVal=rawDepth(i,j+4); |
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| 47 | if (depthVal<minDepth) |
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| 48 | minDepth=depthVal; |
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| 49 | end |
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| 50 | if depthVal>80 |
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| 51 | depthVal=80; |
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| 52 | end |
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| 53 | panBinIdx = floor((panEndAngD-panAngD)/panBinResD); |
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| 54 | sweepBinIdx = floor((sweepEndAngD-sweepAngD)/sweepBinResD); |
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| 55 | depthBins(panBinIdx,sweepBinIdx)=depthBins(panBinIdx,sweepBinIdx)+depthVal; |
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| 56 | if (depthVal~=0) %% this is to rule out the invalid cases |
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| 57 | countBuf(panBinIdx,sweepBinIdx)=countBuf(panBinIdx,sweepBinIdx)+1; |
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| 58 | end |
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| 59 | % if (depthBins(panBinIdx,sweepBinIdx)~=0) |
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| 60 | % if ((depthBins(panBinIdx,sweepBinIdx)/countBuf(panBinIdx,sweepBinIdx))<minDepth) |
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| 61 | % waithere = 1; |
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| 62 | % end |
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| 63 | % end |
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| 64 | end |
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| 65 | end |
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| 66 | minDepth |
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