[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 []=Depth_error(DepthDirectory, SkyExclude, detail,baseline) |
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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 batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName; |
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| 44 | |
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| 45 | % prepare report |
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| 46 | ReportName = [ScratchDataFolder '/result/DepthErrorTable.txt' ]; |
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| 47 | check = dir(ReportName) |
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| 48 | DateStamp = date; |
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| 49 | if isempty(check) |
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| 50 | disp('is empty') |
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| 51 | fid = fopen(ReportName, 'w+'); |
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| 52 | fprintf(fid, '%s %s %s %s %s %s %s\n', DateStamp,'MeanAbsError','RMSError','MeanAbsLogError','RMSLogError','MeanAbsFraError','RMSFraError'); |
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| 53 | fclose(fid); |
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| 54 | end |
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| 55 | DepthDirectory |
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| 56 | check = dir([DepthDirectory]); |
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| 57 | if isempty(check) |
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| 58 | disp('empty') |
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| 59 | end |
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| 60 | %return; |
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| 61 | |
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| 62 | NuPics = size(filename,2); |
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| 63 | load([ScratchDataFolder '/data/MaskGSky.mat']); |
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| 64 | l =1; |
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| 65 | for i= 1:NuPics |
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| 66 | % in case can't find the laser depth |
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| 67 | depthfile = strrep(filename{i},'img','depth_sph_corr'); |
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| 68 | check = dir([ScratchDataFolder '/Gridlaserdata/' depthfile '.mat']); |
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| 69 | if isempty(check) |
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| 70 | continue; |
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| 71 | end |
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| 72 | load([ScratchDataFolder '/Gridlaserdata/' depthfile '.mat']); |
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| 73 | laserdepth = Position3DGrid(:,:,4); |
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| 74 | clear Position3DGrid; |
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| 75 | |
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| 76 | % load learned or predicted depth |
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| 77 | depthfile = strrep(filename{i},'img','depth_learned'); |
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| 78 | if baseline ==1 |
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| 79 | disp('load baseline') |
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| 80 | check = dir([DepthDirectory '_baseline/' depthfile '.mat']); |
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| 81 | if isempty(check) |
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| 82 | continue; |
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| 83 | end |
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| 84 | load([DepthDirectory '_baseline/' depthfile '.mat']); |
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| 85 | depthMap = depthMap_base; |
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| 86 | elseif baseline == 2 |
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| 87 | disp('load baseline2') |
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| 88 | check = dir([DepthDirectory '_baseline2/' depthfile '.mat']); |
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| 89 | if isempty(check) |
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| 90 | continue; |
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| 91 | end |
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| 92 | load([DepthDirectory '_baseline2/' depthfile '.mat']); |
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| 93 | depthMap = depthMap_base2; |
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| 94 | else |
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| 95 | check = dir([DepthDirectory '/' depthfile '.mat']); |
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| 96 | if isempty(check) |
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| 97 | continue; |
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| 98 | end |
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| 99 | load([DepthDirectory '/' depthfile '.mat']); |
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| 100 | end |
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| 101 | |
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| 102 | i |
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| 103 | filename{i} |
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| 104 | % calculate average abs error RMS error on linear and log scale, and fractional error |
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| 105 | if SkyExclude == 1 |
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| 106 | disp('Sky Exlude') |
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| 107 | % remove big error so that it won't effect linear and fractional term |
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| 108 | % maskBigError = (depthMap >70); % 80+30 |
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| 109 | depthMap(depthMap >80) =80; |
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| 110 | maskBigError = (laserdepth >7000); % 80+30 |
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| 111 | % maskBigError = (depthMap >Inf); % 80+30 |
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| 112 | |
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| 113 | mask = ~(maskSky{i}|maskBigError); |
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| 114 | sum(mask(:)) |
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| 115 | AbsLogError=abs( log10(depthMap(:))-log10(laserdepth(:)) ); |
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| 116 | AbsLogError = AbsLogError(mask); % get rid of the sky |
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| 117 | AbsError=abs( (depthMap(:))-(laserdepth(:)) ); |
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| 118 | |
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| 119 | % mean( abs(depthMap - laserdepth),2) |
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| 120 | AbsError = AbsError(mask); |
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| 121 | AbsFraError = abs( (depthMap(:)-laserdepth(:))./laserdepth(:)); |
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| 122 | AbsFraError = AbsFraError(mask); |
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| 123 | else |
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| 124 | AbsLogError=abs( log10(depthMap(:))-log10(laserdepth(:)) ); |
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| 125 | AbsError=abs( (depthMap(:))-(laserdepth(:)) ); |
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| 126 | AbsFraError = abs( (depthMap(:)-laserdepth(:))./laserdepth(:)); |
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| 127 | end |
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| 128 | |
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| 129 | |
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| 130 | WholeAbsLogError{l} = AbsLogError; |
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| 131 | WholeAbsError{l} = AbsError; |
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| 132 | WholeAbsFraError{l} = AbsFraError; |
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| 133 | l = l +1; |
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| 134 | |
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| 135 | end |
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| 136 | |
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| 137 | MeanAbsError = mean(cell2mat(WholeAbsError')); |
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| 138 | RMSError = sqrt(mean(cell2mat(WholeAbsError').^2)); |
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| 139 | MeanAbsLogError = mean(cell2mat(WholeAbsLogError')); |
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| 140 | RMSLogError = sqrt(mean(cell2mat(WholeAbsLogError').^2)); |
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| 141 | MeanAbsFraError = mean(cell2mat(WholeAbsFraError')); |
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| 142 | RMSFraError = sqrt(mean(cell2mat(WholeAbsFraError').^2)); |
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| 143 | if detail |
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| 144 | disp('report detail'); |
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| 145 | save([ScratchDataFolder '/result/DepthErrorReport' DateStamp '.mat'],... |
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| 146 | 'WholeAbsError','WholeAbsLogError','WholeAbsFraError','MeanAbsError','RMSError','MeanAbsLogError','RMSLogError','MeanAbsFraError','RMSFraError'); |
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| 147 | end |
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| 148 | |
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| 149 | fid = fopen(ReportName, 'a+'); |
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| 150 | fprintf(fid, '%s %g %g %g %g %g %g\n %s %d\n', DateStamp,MeanAbsError,RMSError,MeanAbsLogError,RMSLogError,MeanAbsFraError,RMSFraError, DepthDirectory, baseline); |
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| 151 | fclose(fid); |
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| 152 | |
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| 153 | |
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