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plot_3D.m
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plot_3D.m
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function plot_3D(scene_path, D)
% This function calculates depth map according to disparity map and
% plots the scene in 3D with original color.
% Load and parse the testData from given path
testData = readDataFromDir(scene_path);
gt_n = uint8((testData.im_gt/max(max(testData.im_gt))*255));
% Get f from testData
f = testData.params.cam0(1,1);
% Calculate Z using disparity map, baseline, f and doffs
Z = (testData.params.baseline * f) ./ (double(D) + testData.params.doffs);
% Calculate Bild Koordinaten from Pixel Koordinaten
x_pixel = 1:1:testData.params.width;
y_pixel = 1:1:testData.params.height;
[X,Y] = meshgrid(x_pixel,y_pixel);
X_Pixel = [reshape(X,1,[]);reshape(Y,1,[]);ones(1,testData.params.width*testData.params.height)];
X_Bild = testData.params.cam0 \ X_Pixel;
% Reshape Z to get Z-Koordinaten
Z_reshape = reshape(Z,1,[]);
% Calculate Wert Koordinaten
X_Wert = X_Bild .* [Z_reshape;Z_reshape;Z_reshape];
% Get color of original image
Color = double(reshape(testData.im0,[],3))./255;
% 3D plot
scatter3(X_Wert(1,:),X_Wert(2,:),Z_reshape, 2, Color);
end