source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/LaserDataCollection/readLogFileForDepth.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 [depthBins,countBuf,minDepth]=readLogFileForDepth(rawDepth,depthBins,countBuf,panEndAngD,panBinResD,sweepEndAngD,sweepBinResD)

minDepth=1000000;
for i=1:size(rawDepth,1) 
    for j=1:size(rawDepth,2)-4
        panAngD=rawDepth(i,2);
        sweepAngD=(j-1)-90;
        depthVal=rawDepth(i,j+4);
        if (depthVal<minDepth)
            minDepth=depthVal;
        end
        if depthVal>80
            depthVal=80;
        end
        panBinIdx = floor((panEndAngD-panAngD)/panBinResD);
        sweepBinIdx = floor((sweepEndAngD-sweepAngD)/sweepBinResD);
        depthBins(panBinIdx,sweepBinIdx)=depthBins(panBinIdx,sweepBinIdx)+depthVal;
        if (depthVal~=0) %% this is to rule out the invalid cases
            countBuf(panBinIdx,sweepBinIdx)=countBuf(panBinIdx,sweepBinIdx)+1;
        end
%         if (depthBins(panBinIdx,sweepBinIdx)~=0)
%             if ((depthBins(panBinIdx,sweepBinIdx)/countBuf(panBinIdx,sweepBinIdx))<minDepth)
%                 waithere = 1;
%             end
%         end
    end
end
minDepth