[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 []=CheckImage2LaseDepthMap(); |
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| 40 | |
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| 41 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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| 42 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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| 43 | Horizon_default filename; |
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| 44 | %a= 0.70783777; %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
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| 45 | %b = 0.946584169;%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
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| 46 | %Ox = 0.489272914; % camera origin offset from the image center in horizontal direction |
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| 47 | %Oy = 0.488886982; % camera origin offset from the image center in vertical direction |
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| 48 | HoriXImg = 1704; |
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| 49 | VertYImg = 2272; |
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| 50 | |
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| 51 | %GeneralDataFolder = '/afs/cs/group/reconstruction3d/Data'; |
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| 52 | %ScratchDataFolder = '/afs/cs/group/reconstruction3d/scratch/Min'; |
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| 53 | |
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| 54 | %load([ScratchDataFolder '/data/filename.mat']); |
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| 55 | NuPics =size(filename,2); |
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| 56 | for k = 1:NuPics |
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| 57 | depthfile = strrep(filename{k},'img','depth_sph_corr'); |
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| 58 | temp = dir([GeneralDataFolder '/laserdata/' depthfile '.mat']); |
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| 59 | if size(temp,1) ==0 |
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| 60 | k |
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| 61 | %load([GeneralDataFolder '/laserdata/' depthfile '.mat']); |
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| 62 | unix(['rm ' GeneralDataFolder '/' ImgFolder '/' filename{k} '.jpg']); |
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| 63 | %pixelReservoir(:,5) = 1704-pixelReservoir(:,5); |
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| 64 | % generate 3d position in camera coordinate |
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| 65 | %ray = cat(3,(a*pixelReservoir(:,5)/HoriXImg-Ox),-(b*pixelReservoir(:,4)/VertYImg-Oy),ones(size(pixelReservoir,1),1)); |
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| 66 | %ray = ray./repmat(sqrt(sum(ray(:,:,1).^2+ray(:,:,2).^2+ray(:,:,3).^2,3)),[1 1 3]); |
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| 67 | %Position3DTure=im_cr2w_cr(pixelReservoir(:,6),ray); |
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| 68 | %pixelReservoir(:,1:3) = Position3DTure'; |
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| 69 | %save([ScratchDataFolder '/laserdataMin/' depthfile '.mat'],'pixelReservoir'); |
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| 70 | %gen_position3dgrid(depthfile,pixelReservoir,VertYNuDepth,HoriXNuDepth,2272,1704); |
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| 71 | end |
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| 72 | end |
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