[37] | 1 | % * This code was used in the following articles:
|
---|
| 2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
|
---|
| 3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
| 4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
|
---|
| 5 | % * (best paper)
|
---|
| 6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
|
---|
| 7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
|
---|
| 8 | % * In ICCV workshop on Virtual Representations and Modeling
|
---|
| 9 | % * of Large-scale environments (VRML), 2007.
|
---|
| 10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
|
---|
| 11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
| 12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
|
---|
| 13 | % * [6] Learning Depth from Single Monocular Images,
|
---|
| 14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
|
---|
| 15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
|
---|
| 16 | % *
|
---|
| 17 | % * These articles are available at:
|
---|
| 18 | % * http://make3d.stanford.edu/publications
|
---|
| 19 | % *
|
---|
| 20 | % * We request that you cite the papers [1], [3] and [6] in any of
|
---|
| 21 | % * your reports that uses this code.
|
---|
| 22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
|
---|
| 23 | % * then please cite [2].
|
---|
| 24 | % *
|
---|
| 25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
|
---|
| 26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
|
---|
| 27 | % *
|
---|
| 28 | % * Finally, this code is for non-commercial use only. For further
|
---|
| 29 | % * information and to obtain a copy of the license, see
|
---|
| 30 | % *
|
---|
| 31 | % * http://make3d.stanford.edu/publications/code
|
---|
| 32 | % *
|
---|
| 33 | % * Also, the software distributed under the License is distributed on an
|
---|
| 34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
---|
| 35 | % * express or implied. See the License for the specific language governing
|
---|
| 36 | % * permissions and limitations under the License.
|
---|
| 37 | % *
|
---|
| 38 | % */
|
---|
| 39 | function []=Depth_error_CMU(DepthDirectory, SkyExclude, detail,baseline) |
---|
| 40 | |
---|
| 41 | global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
---|
| 42 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
---|
| 43 | Horizon_default filename batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize PopUpVertY PopUpHoriX taskName; |
---|
| 44 | |
---|
| 45 | % prepare report |
---|
| 46 | ReportName = [ScratchDataFolder '/result/DepthErrorTable.txt' ]; |
---|
| 47 | check = dir(ReportName) |
---|
| 48 | DateStamp = date; |
---|
| 49 | if isempty(check) |
---|
| 50 | disp('is empty') |
---|
| 51 | fid = fopen(ReportName, 'w+'); |
---|
| 52 | fprintf(fid, '%s %s %s %s %s %s %s\n', DateStamp,'MeanAbsError','RMSError','MeanAbsLogError','RMSLogError','MeanAbsFraError','RMSFraError'); |
---|
| 53 | fclose(fid); |
---|
| 54 | end |
---|
| 55 | DepthDirectory |
---|
| 56 | %return; |
---|
| 57 | |
---|
| 58 | % ======================= load Rajiv's .mat file |
---|
| 59 | load([ScratchDataFolder '/data/distError' ImgFolder '.mat']); |
---|
| 60 | MeanOffSet = mean(offset); |
---|
| 61 | %CMUdepthNormalized=exp(offset)*CMUdepth; |
---|
| 62 | % ============================================ |
---|
| 63 | |
---|
| 64 | NuPics = size(filename,2); |
---|
| 65 | load([ScratchDataFolder '/data/MaskGSky.mat']); |
---|
| 66 | l =1; |
---|
| 67 | for i= 1:NuPics |
---|
| 68 | i |
---|
| 69 | % in case can't find the laser depth |
---|
| 70 | depthfile = strrep(filename{i},'img','depth_sph_corr'); |
---|
| 71 | check = dir([ScratchDataFolder '/Gridlaserdata/' depthfile '.mat']); |
---|
| 72 | if isempty(check) |
---|
| 73 | continue; |
---|
| 74 | end |
---|
| 75 | load([ScratchDataFolder '/Gridlaserdata/' depthfile '.mat']); |
---|
| 76 | laserdepth = Position3DGrid(:,:,4); |
---|
| 77 | clear Position3DGrid; |
---|
| 78 | |
---|
| 79 | % load learned or predicted depth |
---|
| 80 | depthMap = CMUdepth{i}*exp(MeanOffSet); |
---|
| 81 | |
---|
| 82 | filename{i} |
---|
| 83 | % calculate average abs error RMS error on linear and log scale, and fractional error |
---|
| 84 | if SkyExclude == 1 |
---|
| 85 | disp('Sky Exlude') |
---|
| 86 | % remove big error so that it won't effect linear and fractional term |
---|
| 87 | % maskBigError = ((depthMap >1000) | (~useMask{i})) | (depthMap <=1); % 80+30 |
---|
| 88 | maskBigError = ((depthMap >1000) ) | (depthMap <=1); % 80+30 |
---|
| 89 | % maskBigError = (depthMap >Inf); % 80+30 |
---|
| 90 | |
---|
| 91 | mask = ~(maskSky{i}|maskBigError); |
---|
| 92 | sum(mask(:)) |
---|
| 93 | % any(isinf(log10(depthMap(:)))) |
---|
| 94 | % any(isinf(log10(laserdepth(:)))) |
---|
| 95 | AbsLogError=abs( log10(depthMap(:))-log10(laserdepth(:)) ); |
---|
| 96 | AbsLogError = AbsLogError(mask); % get rid of the sky |
---|
| 97 | AbsError=abs( (depthMap(:))-(laserdepth(:)) ); |
---|
| 98 | AbsError = AbsError(mask); |
---|
| 99 | AbsFraError = abs( (depthMap(:)-laserdepth(:))./laserdepth(:)); |
---|
| 100 | AbsFraError = AbsFraError(mask); |
---|
| 101 | else |
---|
| 102 | AbsLogError=abs( log10(depthMap(:))-log10(laserdepth(:)) ); |
---|
| 103 | AbsError=abs( (depthMap(:))-(laserdepth(:)) ); |
---|
| 104 | AbsFraError = abs( (depthMap(:)-laserdepth(:))./laserdepth(:)); |
---|
| 105 | end |
---|
| 106 | |
---|
| 107 | |
---|
| 108 | WholeAbsLogError{l} = AbsLogError; |
---|
| 109 | WholeAbsError{l} = AbsError; |
---|
| 110 | WholeAbsFraError{l} = AbsFraError; |
---|
| 111 | l = l +1; |
---|
| 112 | |
---|
| 113 | end |
---|
| 114 | |
---|
| 115 | MeanAbsError = mean(cell2mat(WholeAbsError')); |
---|
| 116 | RMSError = sqrt(mean(cell2mat(WholeAbsError').^2)); |
---|
| 117 | MeanAbsLogError = mean(cell2mat(WholeAbsLogError')); |
---|
| 118 | RMSLogError = sqrt(mean(cell2mat(WholeAbsLogError').^2)); |
---|
| 119 | MeanAbsFraError = mean(cell2mat(WholeAbsFraError')); |
---|
| 120 | RMSFraError = sqrt(mean(cell2mat(WholeAbsFraError').^2)); |
---|
| 121 | if detail |
---|
| 122 | disp('report detail'); |
---|
| 123 | save([ScratchDataFolder '/result/DepthErrorReport' DateStamp '.mat'],... |
---|
| 124 | 'WholeAbsError','WholeAbsLogError','WholeAbsFraError','MeanAbsError','RMSError','MeanAbsLogError','RMSLogError','MeanAbsFraError','RMSFraError'); |
---|
| 125 | end |
---|
| 126 | |
---|
| 127 | fid = fopen(ReportName, 'a+'); |
---|
| 128 | fprintf(fid, '%s %g %g %g %g %g %g\n %s %d\n', DateStamp,MeanAbsError,RMSError,MeanAbsLogError,RMSLogError,MeanAbsFraError,RMSFraError, 'CMU', baseline); |
---|
| 129 | fclose(fid); |
---|
| 130 | |
---|
| 131 | |
---|