[37] | 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 [ImgInfo1 ImgInfo2 Img1Index Img2Index Pair GlobalScale]=LoadDataForFindOcclu(defaultPara, WrlName, ImgName1, ImgName2, ... |
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| 40 | FlagPrestorage, PostFixStr) |
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| 41 | |
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| 42 | % This function load every data FindOccluPair needs |
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| 43 | if nargin < 6 |
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| 44 | PostFixStr = 'NonMono'; |
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| 45 | end |
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| 46 | % initalize the ImgInfo |
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| 47 | ImgInfo = []; |
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| 48 | if FlagPrestorage |
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| 49 | load([defaultPara.Fdir '/data/ImgInfo.mat']); |
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| 50 | else |
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| 51 | % s = warning('off', 'all'); |
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| 52 | [ImgInfo] = ExifExtractDir(defaultPara.Fdir,ImgInfo); % Exif info |
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| 53 | % 1) Extracting info |
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| 54 | [ImgInfo] = ExtractGPSInfo(defaultPara, defaultPara.Fdir, ImgInfo); % GPS info |
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| 55 | [ImgInfo] = ExtractRotationInfo( defaultPara, defaultPara.Fdir, ImgInfo); % IMU info |
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| 56 | [ ImgInfo ] = AllXWorld(defaultPara, ImgInfo); %X_world info |
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| 57 | % s = warning('on', 'all'); |
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| 58 | end |
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| 59 | [Img1Index] = ImgInfoIndexFromName(ImgInfo, ImgName1); |
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| 60 | [Img2Index] = ImgInfoIndexFromName(ImgInfo, ImgName2); |
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| 61 | ImgInfo1 = ImgInfo(Img1Index); |
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| 62 | ImgInfo2 = ImgInfo(Img2Index); |
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| 63 | ImgInfo1.ExifInfo.IDName = ImgName1; |
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| 64 | ImgInfo2.ExifInfo.IDName = ImgName2; |
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| 65 | |
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| 66 | % load xxxx_NonMono.mat |
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| 67 | load([ defaultPara.Fdir '/data/' ImgName1 '/' WrlName '_' ImgName1 '_' PostFixStr '.mat']); |
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| 68 | ImgInfo1.Model = model; |
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| 69 | load([ defaultPara.Fdir '/data/' ImgName2 '/' WrlName '_' ImgName2 '_' PostFixStr '.mat']); |
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| 70 | ImgInfo2.Model = model; |
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| 71 | |
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| 72 | % load xxx_xxx_PosrMatch.mat |
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| 73 | % Notice the order |
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| 74 | disp('Start loading Initial Pose info'); |
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| 75 | [Pair, Matches, Error] = LoadPoseMatch(defaultPara.Fdir, ImgName1, ImgName2); |
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| 76 | Pair.matches = Matches; |
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| 77 | if Error ~=0 |
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| 78 | disp('Not a good Match data, might give bad R and T'); |
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| 79 | % pause; |
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| 80 | end |
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| 81 | |
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| 82 | % load globalScale info in ModelStatus/xxx.mat |
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| 83 | load([defaultPara.Fdir '/data/ModelStatus/' WrlName '.mat']); |
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| 84 | GlobalScale =[]; |
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| 85 | Count = 0; |
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| 86 | for i=1:length(ModelStatus) |
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| 87 | if strcmp( ModelStatus(i).ImgName, ImgName1) |
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| 88 | GlobalScale(1) = ModelStatus(i).Scale; |
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| 89 | R1 = ModelStatus(i).R; |
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| 90 | T1 = ModelStatus(i).T; |
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| 91 | Count = Count + 1; |
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| 92 | elseif strcmp( ModelStatus(i).ImgName, ImgName2) |
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| 93 | GlobalScale(2) = ModelStatus(i).Scale; |
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| 94 | R2 = ModelStatus(i).R; |
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| 95 | T2 = ModelStatus(i).T; |
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| 96 | Count = Count + 1; |
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| 97 | end |
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| 98 | |
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| 99 | if Count == 2 |
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| 100 | break; |
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| 101 | end |
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| 102 | end |
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| 103 | |
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| 104 | % Min add Aug 22th ========= |
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| 105 | if ~exist('R2') |
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| 106 | GlobalScale(2) = Pair.DepthScale(2)/Pair.DepthScale(1)*GlobalScale(1); |
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| 107 | else |
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| 108 | % MainTain Global T nad R (coordinate 1 to 2) |
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| 109 | Pair.R = R2'*R1; |
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| 110 | Pair.T = (R2'*T1 - R2'*T2); |
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| 111 | end |
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| 112 | % ========================== |
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| 113 | return; |
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