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 [Pair Matches, fail]=LoadPoseMatch(Fdir, ImgName1, ImgName2) |
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40 | |
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41 | % This function load the xxx_xxx_PoseMatch.mat proberly by tring the two order automatically |
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42 | [status1, result1] = system(['ls ' Fdir '/data/' ImgName1 '_' ImgName2 '_PoseMatch.mat']); |
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43 | [status2, result2] = system(['ls ' Fdir '/data/' ImgName2 '_' ImgName1 '_PoseMatch.mat']); |
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44 | if ~status1 |
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45 | load([Fdir '/data/' ImgName1 '_' ImgName2 '_PoseMatch.mat']); |
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46 | % Cool then just load the .mat file |
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47 | elseif ~status2 |
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48 | load([Fdir '/data/' ImgName2 '_' ImgName1 '_PoseMatch.mat']); |
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49 | % Well we just need ot switch the variable |
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50 | Pair_tmp = Pair; |
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51 | Pair.R = Pair_tmp.R'; |
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52 | Pair.T = -Pair_tmp.R'*Pair_tmp.T; |
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53 | Pair.Xim = Pair_tmp.Xim([3 4 1 2],:); |
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54 | Pair.DepthScale = Pair_tmp.DepthScale([2 1],:); |
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55 | Pair.lamda = Pair_tmp.lamda([2 1],:); |
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56 | Pair.t = Pair_tmp.t; |
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57 | |
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58 | Matches = Matches([2 1],:); |
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59 | |
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60 | else % no direct match between ImgName1 and ImgName2 |
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61 | % so change to find any match including ImgName1 and ImgName2 seperately |
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62 | % for ImgName1 |
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63 | % No used anymore ======================================================================= |
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64 | if false |
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65 | file1 = dir([Fdir '/data/']); |
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66 | for i = 1:length(file1) |
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67 | if ~isempty( strfind(file1(i).name,ImgName1)) |
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68 | |
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69 | load([Fdir '/data/' file1(i).name]); |
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70 | if strfind(file1(i).name,ImgName1) == 1 |
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71 | Pair_tmp.Xim1 = Pair.Xim(1:2,:); |
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72 | Pair_tmp.DepthScale1 = Pair.DepthScale(1); |
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73 | Pair_tmp.lamda1 = Pair.lamda(1,:); |
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74 | else |
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75 | Pair_tmp.Xim1 = Pair.Xim(3:4,:); |
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76 | Pair_tmp.DepthScale1 = Pair.DepthScale(1); |
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77 | Pair_tmp.lamda1 = Pair.lamda(1,:); |
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78 | end |
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79 | end |
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80 | end |
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81 | end |
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82 | % =================================================================================== |
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83 | |
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84 | % just simply use empty matches; |
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85 | Pair.Xim = zeros(4,0); |
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86 | Pair.DepthScale = zeros(0,2); |
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87 | Pair.lamda = zeros(2,0); |
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88 | |
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89 | Matches = zeros(2,0); |
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90 | fail = 0; |
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91 | disp('No Match been tested'); |
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92 | end |
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93 | |
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94 | return; |
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