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 []=PositionGrid(); |
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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 | %load([ScratchDataFolder '/data/filename.mat']); |
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51 | NuPics =size(filename,2); |
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52 | for k = 1:NuPics |
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53 | depthfile = strrep(filename{k},'img','depth_sph_corr'); |
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54 | |
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55 | temp = dir([ScratchDataFolder '/../LaserDepth/' ImgFolder '/' depthfile '.mat']); |
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56 | if size(temp,1) ~=0 |
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57 | k |
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58 | load([ScratchDataFolder '/../LaserDepth/' ImgFolder '/' depthfile '.mat']); |
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59 | %pixelReservoir(:,5) = 1704-pixelReservoir(:,5); |
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60 | % generate 3d position in camera coordinate |
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61 | %ray = cat(3,(a*pixelReservoir(:,5)/HoriXImg-Ox),-(b*pixelReservoir(:,4)/VertYImg-Oy),ones(size(pixelReservoir,1),1)); |
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62 | %ray = ray./repmat(sqrt(sum(ray(:,:,1).^2+ray(:,:,2).^2+ray(:,:,3).^2,3)),[1 1 3]); |
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63 | %Position3DTure=im_cr2w_cr(pixelReservoir(:,6),ray); |
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64 | %pixelReservoir(:,1:3) = Position3DTure'; |
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65 | %save([ScratchDataFolder '/laserdataMin/' depthfile '.mat'],'pixelReservoir'); |
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66 | gen_position3dgrid(depthfile,pixelReservoir,VertYNuDepth,HoriXNuDepth,2272,1704); |
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67 | end |
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68 | end |
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