function perceptionParameters(realDataDirectory)
% This code is copyrighted by Stanford University.
% Author: Ashutosh Saxena, Justin Drieymeyer
% Code cannot be used for commercial purposes.
% Use of the code, if used with permission from authors, must acknowledge:
% Learning to Grasp Novel Objects using Vision,
% Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, Andrew Y. Ng. In 10th International Symposium on Experimental Robotics, ISER, 2006.
% Robotic Grasping of Novel Obects,
% Ashutosh Saxena, Justing Driemeyer, Justin Kearns, Andrew Y. Ng, In Neural Information Processing Systems (NIPS), 2006.
% More details at: http://ai.stanford.edu/~asaxena/learninggrasp/
% Version 0.1:   Aug 2006.



global realWorldFlag neighborFlag
neighborFlag = true;

global syntheticDataDirectory scratchDataDirectory
%where the image filename will be stored from control code in realtime
global testImageFilename testFileVector

global trainingWeightsFilename1 trainingWeightsFilename2 trainingWeightsFilenameZoomed trainingFilename
global trainingWeightsFilename3 trainingWeightsFilename4 trainingWeightsFilename
global trainingWeightsFilenameBase
global cameraAngleFile nDimForGrasp nDimNeighbors nNeighbors dishwasherDirectory
global fullFeatsToUse rackRows rackCols numHandlesToPredict
global tfile threeDFeatLength depthBasedFeats

numHandlesToPredict = 2;

rackRows = 159:437;
rackCols = 114:486;

fullFeatsToUse = [];
depthBasedFeats = [];
featsToUse = [1:9 12:17];
depthFeatsToUse = [];%[3 7 10:15];
discreteDepthFeatsToUse = depthFeatsToUse;

MomentFeats = [1:16 117:132];
PCAMomentFeats = [17:32 133:148];
PercentageFeats = [33:89 149:205];
PCAPercentFeats = [90:116 206:232];

threeDFeatLength = PCAPercentFeats(end);

stereo3DFeatsToUse = [];
%stereo3DFeatsToUse = [stereo3DFeatsToUse MomentFeats];
%stereo3DFeatsToUse = [stereo3DFeatsToUse PCAMomentFeats];
%stereo3DFeatsToUse = [stereo3DFeatsToUse PercentageFeats];
%stereo3DFeatsToUse = [stereo3DFeatsToUse PCAPercentFeats];
stereo3DFeatsToUse = sort(stereo3DFeatsToUse);

featSegs = [26 33 40];
for n=0:featSegs(1);
  fullFeatsToUse = [fullFeatsToUse n*17 + featsToUse];
end
for n=(featSegs(1)+1):featSegs(2);
  fullFeatsToUse = [fullFeatsToUse n*17 + depthFeatsToUse];
  depthBasedFeats = [depthBasedFeats n*17 + depthFeatsToUse];
end
for n=(featSegs(2)+1):featSegs(3);
  fullFeatsToUse = [fullFeatsToUse n*17 + discreteDepthFeatsToUse];
  depthBasedFeats = [depthBasedFeats n*17 + discreteDepthFeatsToUse];
end
for n=(featSegs(3)+1);
  fullFeatsToUse = [fullFeatsToUse n*17 + stereo3DFeatsToUse];
end

nDimForGrasp = size(fullFeatsToUse, 2);
nDimNeighbors = 17;
nNeighbors = 5;
realWorldFlag = true;
realDataFilename = 'ArmOutput100';
cameraAngleFile = [realDataDirectory realDataFilename '.txt'];
nRealImages = length( dir([realDataDirectory realDataFilename '*.jpg']));

%% FOR RUNNING IN CVS REPOSITORY
if true

  dishwasherDirectory = '/afs/cs/group/stairperception/Data/DishwasherData/';
  weightsDirectory = '/afs/cs/group/stairperception/otherFiles/weightsDirectory/';
  tfile = '/afs/cs/group/stairperception/otherFiles/calibration/T.mat';
  
  if nargin < 1
    realDataDirectory = '/afs/cs/group/stairperception/Data/Real/ISER_NIPS_Data/ZigZagData/zigdata1/';
  end;
 
  syntheticDataDirectory = '/afs/cs/group/stairperception/Data/Synthetic/June2006Data';
  scratchDataDirectory = '/afs/cs/group/stairperception/scratch';

  testImageFilename = [realDataDirectory realDataFilename '_'];
  testFileVector = 1:4; %nRealImages;

  trainingFilename = [weightsDirectory 'savedFeatureVector.mat'];
  trainingWeightsFilename = [weightsDirectory 'weightsSyntheticAll.mat'];
  trainingWeightsFilename1 = [weightsDirectory 'weightsSyntheticAll1.mat'];
  trainingWeightsFilename2 = [weightsDirectory 'weightsSyntheticAll2.mat'];
  trainingWeightsFilename3 = [weightsDirectory 'weightsSyntheticAll3.mat'];
  trainingWeightsFilename4 = [weightsDirectory 'weightsSyntheticAll4.mat'];
  trainingWeightsFilenameZoomed = [weightsDirectory 'weightsSyntheticAllZoomed.mat'];
  trainingWeightsFilenameBase = weightsDirectory;

else

  tfile = 'X:\davidho\pics\calibration3\T.mat';
  dishwasherDirectory = 'C:\Program Files\Point Grey Research\Triclops Stereo Vision SDK\src\examples\common\example2\';

  weightsDirectory = 'X:\justind\workspace\otherFiles\weightsDirectory\';

  if nargin < 1
    realDataDirectory = 'MoreRealCupData1/';
  end

  syntheticDataDirectory = 'SyntheticData/';

  testImageFilename = [realDataDirectory realDataFilename '_'];
  testFileVector = 1:2;  %1:nRealImages;

  trainingFilename = 'savedFeatureVector.mat';
  trainingWeightsFilename = [weightsDirectory 'weightsSyntheticAll.mat'];
  trainingWeightsFilename1 = [weightsDirectory 'weightsSyntheticAll.mat'];
  trainingWeightsFilename2 = [weightsDirectory 'weightsSyntheticAll.mat'];
  trainingWeightsFilename3 = [weightsDirectory 'weightsSyntheticAll.mat'];
  trainingWeightsFilename4 = [weightsDirectory 'weightsSyntheticAll.mat'];
  trainingWeightsFilenameZoomed = [weightsDirectory 'weightsSyntheticAll.mat'];

  cameraAngleFile = [realDataDirectory realDataFilename '.txt'];
end