function makeDepthImages(dataNumber, displayFlag)
% Version 0.1, Feb 2006.
% This code is copyrighted by Ashutosh Saxena, Stanford University
% It is available for non-commercial use only. For commericial use, please
% contact the authors.
% Any publication or report resulting from Use of this code, should cite:
% Learning Depth from Single Monocular Images, Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng, NIPS 2005.
% 3-D Depth Reconstruction from a Single Still Image, Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng, To appear in IJCV 2007.
% For more info and dataset, visit: http://ai.stanford.edu/~asaxena/learningdepth/
% For a better version of the algorithm, also visit: 
% http://ai.stanford.edu/~asaxena/reconstruction3d/

% This code could be used to align and view the depthmaps.
% This code does nothing in the features / learning algorithm as such.


if nargin < 2
    displayFlag = false;
end
if nargin < 1
    dataNumber = 1;
end
centerAngle = -180 + dataNumber*40;

%Win05: Recalculate these numbers by looking at images and depthmaps 
laserAngleScan = 30;
topAngle = 69;
botAngle = 73;
leftAngle = 10;
rightAngle = 7;
horThetaStep = 0.5;

close all;
directory = '~/scratch/LaserImage2DData/';

%Win05:
% system([ 'cat ' depthDirectory depthFilename ' | sed s/PTLASER/\/g | cat > ' depthDirectory depthFilename 'cleaned']);
% Above command is passed in Linux to clear the text, leaving only numbers, which can be directly
% imported into Matlab by using File > Import Data

load([directory 'log' num2str(dataNumber) '.mat']);
A = imread([directory 'img-' num2str(dataNumber) '.jpg']);

sizeHor = round( (-min(logDepth(:,2)) + max(logDepth(:,2) ) )/ horThetaStep );
quantizedLogDepth = zeros( sizeHor, size(logDepth,2)-4 );
angleIndex = 0;

for x = (centerAngle-laserAngleScan):horThetaStep:(centerAngle+laserAngleScan)
    [tmp ind] = min( abs( logDepth(:,2) - x) );
	%Win05: I remember 2nd column contained the time stamp, therefore it basically matches 
	% the timestamp
    %IMPROVEMENT: instead of nearest one, do AVERAGING
    angleIndex = angleIndex + 1;
    quantizedLogDepth(angleIndex,:) = logDepth(ind, 5:size(logDepth,2) );
	%Win05: 5 because first 4 numbers are not useful
end

clippedDepth = quantizedLogDepth( size(quantizedLogDepth,1):-1:1, ...
        (size(quantizedLogDepth,2)-topAngle):-1:(botAngle) )';

min(clippedDepth(:));
depthMap = log(clippedDepth);    
%depthImg = clippedDepth .^ (1/3);    

if displayFlag
    %subplot(1,2,1);
    image(A);
    axis square;
    %subplot(1,2,2); 
    figure,
    imagesc( depthMap( :, leftAngle:(size(depthMap,2)-rightAngle) ) .^ (1/3) );
    axis square;
end

directory = 'depthMapData/';
save([directory 'calculatedDepthData-' num2str(dataNumber) '.mat'], 'depthMap' );
imwrite( depthMap/ max(depthMap(:) ), [directory 'calculatedDepthImgSet2-' num2str(dataNumber) '.jpg']);