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 | load /afs/cs/group/reconstruction3d/scratch/Min/data/filename.mat |
---|
40 | VertYImg = 2272; |
---|
41 | HoriXImg = 1704; |
---|
42 | fx = 2400.2091651084; |
---|
43 | fy = 2407.3312729885838; |
---|
44 | Ox_de = 1110.7122391785729;%2272/2; % |
---|
45 | Oy_de = 833.72104535435108;%1704/2; % |
---|
46 | a = 1704/fy; %0.70783777; %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
---|
47 | b= 2272/fx; %0.946584169;%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
---|
48 | Ox = 1-Oy_de/1704%0.489272914; % camera origin offset from the image center in horizontal direction |
---|
49 | Oy = 1-Ox_de/2272%0.488886982; % camera origin offset from the image center in vertical direction |
---|
50 | for i=41:size(filename,2) |
---|
51 | depthfile = strrep(filename{i},'img','depth'); |
---|
52 | load(['/afs/cs/group/reconstruction3d/Data/depthMap/' depthfile]); |
---|
53 | depthMap = imresize(depthMap,[55 305],'nearest'); |
---|
54 | pixelReservoir(:,6) = depthMap(:); |
---|
55 | [Ix Iy] = meshgrid(((305:-1:1)-0.5)/305*1704,((1:55)-0.5)/55*2272); |
---|
56 | pixelReservoir(:,4) = Iy(:); |
---|
57 | pixelReservoir(:,5) = Ix(:); |
---|
58 | ray = cat(3,a*(1-pixelReservoir(:,5)/HoriXImg-Ox),b*(1-pixelReservoir(:,4)/VertYImg-Oy),ones(size(pixelReservoir,1),1)); |
---|
59 | ray = ray./repmat(sqrt(sum(ray(:,:,1).^2+ray(:,:,2).^2+ray(:,:,3).^2,3)),[1 1 3]); |
---|
60 | Position3DTure=im_cr2w_cr(pixelReservoir(:,6),ray); |
---|
61 | pixelReservoir(:,1:3) = [Position3DTure(2,:)' Position3DTure(1,:)' Position3DTure(3,:)']; |
---|
62 | |
---|
63 | depthfile = strrep(filename{i},'img','depth_sph_corr'); |
---|
64 | save(['/afs/cs/group/reconstruction3d/scratch/Min/laserdata/' depthfile],'pixelReservoir'); |
---|
65 | end |
---|