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 [vrml_filename] = vrml_test_faceset_goodSkyBoundary(ScratchDataFolder,... |
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40 | filename, Position3D, depth, ray, DepthDirectory,... |
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41 | HBrokeBook, VBrokeBook, Grid, maskSky, maskG,... |
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42 | Np, Sep, a, b, Ox,... |
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43 | Oy, AppendFlag) |
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44 | %function [] = vrml_test_faceset_triangle(filename,PlaneParameterTure,LowResImgIndexSuperpixelSep,DepthDirectory,a,b,Ox,Oy) |
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45 | % this function play with the VRML |
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46 | % using only FaceSet |
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47 | |
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48 | %%% Param descriptions from Rajiv |
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49 | % filename - the name of the image file |
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50 | % Position3D - the matrix of 3d coordinates for all the point (55x305) |
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51 | % depth - the matrix of depth values for each point (55x305) |
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52 | % ray - the ray vector for each point in the image (55x305) |
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53 | % DepthDirectory - the name of the directory used to store final |
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54 | % vrml files in a subfolder vrml |
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55 | % HBrokeBook - an array that contains the information if the |
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56 | % triangle made during writing the vrml file should be reversed |
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57 | % in order to align to a straight line |
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58 | % VBrokeBook - same as HBrokeBook but in the vertical direction |
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59 | % Grid - boolean variable which decides if there shud be a grid drawn in the vrml |
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60 | % maskSky - the skymask cell array, we need this not to draw the sky from the image |
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61 | % maskG - ground mask |
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62 | % Np - parameter which is used when deciding if Np neighbor pixels |
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63 | % of a pixel are sky, then the pixel being considered should also |
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64 | % be declared to be sky, this is because the sky mask is not accurate |
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65 | % Sep - parameter not used any more, shud be removed |
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66 | % a, --> |
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67 | % b, --> |
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68 | % Ox,--> |
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69 | % Oy,--> camera parameters used to generate the Ray, not used anymore as we directly pass the ray, should be removed |
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70 | %%% |
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71 | |
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72 | displayFlag = true; |
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73 | |
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74 | global GeneralDataFolder LocalFolder ClusterExecutionDirectory... |
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75 | ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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76 | Horizon_default batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize; |
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77 | |
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78 | if nargin < 13 |
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79 | a = 0.70783777 %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
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80 | b = 0.946584169%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
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81 | Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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82 | Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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83 | elseif nargin < 14 |
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84 | b = a; |
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85 | Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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86 | Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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87 | elseif nargin < 15 |
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88 | Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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89 | Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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90 | elseif nargin < 16 |
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91 | Oy = Ox; |
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92 | end |
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93 | |
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94 | if displayFlag |
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95 | disp('In VRML generation Code'); |
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96 | end |
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97 | |
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98 | % define global variable |
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99 | global GeneralDataFolder LocalFolder; |
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100 | |
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101 | %maskSky = imerode(maskSky, strel('disk', 3) ); |
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102 | %maskG = imerode(maskSky, strel('disk', 3) ); |
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103 | |
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104 | %calculating the mean of the sky color |
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105 | % imageActual = imread([GeneralDataFolder '/' ImgFolder '/' filename '.jpg']); |
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106 | % meanSkyColor = permute( sum( sum( repmat(maskSky, [1 1 3]) .* ... |
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107 | % double( imresize(imageActual, size(maskSky) ) ), 1), 2), [3 1 2]) ; |
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108 | % meanGroundColor = permute( sum( sum( repmat(maskG, [1 1 3]) .* ... |
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109 | % double( imresize(imageActual, size(maskG) ) ), 1), 2), [3 1 2]) ; |
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110 | % meanSkyColor = meanSkyColor / sum(sum( maskSky ) ); |
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111 | % if any(isnan(meanSkyColor)) |
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112 | % if displayFlag |
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113 | % disp('meanSkyColor NaN'); |
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114 | % end |
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115 | % meanSkyColor = [0.31 0.54 0.76]; |
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116 | % end |
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117 | % meanGroundColor = meanGroundColor / sum(sum( maskG )); |
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118 | % if any(isnan(meanGroundColor)) |
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119 | % if displayFlag |
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120 | % disp('meanGroundColor NaN'); |
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121 | % end |
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122 | % meanGroundColor = [0 0 0]; |
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123 | % end |
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124 | |
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125 | vrml_filename = [DepthDirectory '.wrl']; |
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126 | %LowResImgIndexSuperpixelSepTemp = LowResImgIndexSuperpixelSep; |
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127 | %[VertYSize HoriXSize] = size(LowResImgIndexSuperpixelSepTemp); |
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128 | [dum VertYSize HoriXSize] = size(Position3D); |
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129 | %nu_patch = VertYSize* HoriXSize; |
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130 | |
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131 | Position3DCoord = reshape(Position3D,3,VertYSize*HoriXSize); |
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132 | %Position3DCoord(3,:) = -Position3DCoord(3,:); % important to make z direction negative |
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133 | |
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134 | table = reshape(0:(VertYSize*HoriXSize-1),VertYSize,[]); |
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135 | Position3DCoordOrdeerIndex = zeros(1,92568); %RAJIV |
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136 | GridPosition3DCoordOrdeerIndex = zeros(1,92576); |
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137 | |
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138 | |
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139 | if displayFlag, |
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140 | disp('Going into FOR LOOP, which is bad in Matlab. This code should not take longer than 3 seconds'); |
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141 | end |
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142 | |
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143 | for i = 1:VertYSize-1 |
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144 | for j = 1:HoriXSize-1 |
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145 | Index = [ table(i,j) table(i+1,j+1) table(i,j+1) table(i,j) table(i+1,j) table(i+1,j+1)]; |
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146 | GridIndex = [table(i,j) table(i+1,j+1) table(i,j+1) table(i,j)]; |
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147 | Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index]; |
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148 | GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex]; |
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149 | end |
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150 | end |
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151 | |
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152 | temp = ray(:,:,1:2)./repmat(ray(:,:,3),[1 1 2]); |
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153 | PositionTex = permute(temp./repmat(cat(3,a,b),[VertYSize HoriXSize 1])+repmat(cat(3,Ox,Oy),[VertYSize HoriXSize 1]),[3 1 2]); |
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154 | PositionTexCoord = PositionTex; |
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155 | |
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156 | |
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157 | % inital header |
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158 | disp('writing vrml..'); |
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159 | disp([ScratchDataFolder '/' vrml_filename]) |
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160 | |
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161 | if ~AppendFlag |
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162 | fp = fopen([ScratchDataFolder '/' vrml_filename],'w+'); |
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163 | |
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164 | fprintf(fp, '#VRML V2.0 utf8\n'); |
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165 | |
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166 | % add navigate_info |
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167 | fprintf(fp, 'NavigationInfo {\n'); |
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168 | fprintf(fp, ' headlight TRUE\n'); |
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169 | fprintf(fp, ' type ["FLY", "ANY"]}\n\n'); |
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170 | |
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171 | % add viewpoint |
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172 | fprintf(fp, 'Viewpoint {\n'); |
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173 | fprintf(fp, ' position 0 0.0 0.0\n'); |
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174 | fprintf(fp, ' orientation 0 0 0 0\n'); |
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175 | fprintf(fp, ' fieldOfView 0.7\n'); |
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176 | fprintf(fp, ' description "Original"}\n'); |
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177 | |
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178 | %============== add background color====== |
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179 | fprintf(fp, 'DEF Back1 Background {\n'); |
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180 | fprintf(fp, 'groundColor [.3 .29 .27]\n'); |
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181 | % fprintf(fp, 'groundColor [%f %f %f]\n', meanGroundColor/255); |
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182 | fprintf(fp, 'skyColor [0.31 0.54 0.76]}\n'); |
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183 | % fprintf(fp, 'skyColor [%f %f %f]}\n', meanSkyColor/255); |
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184 | %========================================= |
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185 | else |
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186 | fp = fopen([ScratchDataFolder '/' vrml_filename],'a+'); |
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187 | end |
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188 | |
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189 | % add Shape for texture faceset |
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190 | fprintf(fp, 'Shape{\n'); |
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191 | fprintf(fp, ' appearance Appearance {\n'); |
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192 | fprintf(fp, [' texture ImageTexture { url "./' filename '.jpg' '" }\n']); |
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193 | fprintf(fp, ' }\n'); |
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194 | fprintf(fp, ' geometry IndexedFaceSet {\n'); |
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195 | fprintf(fp, ' coord Coordinate {\n'); |
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196 | |
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197 | % insert coordinate in 3d |
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198 | % ======================= |
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199 | fprintf(fp, ' point [ \n'); |
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200 | fprintf(fp, ' %.2f %.2f %.2f,\n',Position3DCoord); |
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201 | fprintf(fp, ' ]\n'); |
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202 | fprintf(fp, ' }\n'); |
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203 | |
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204 | % insert coordinate index in 3d |
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205 | fprintf(fp, ' coordIndex [\n'); |
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206 | fprintf(fp, ' %g %g %g -1,\n',Position3DCoordOrdeerIndex); |
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207 | fprintf(fp, ' ]\n'); |
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208 | |
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209 | % insert texture coordinate |
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210 | fprintf(fp, ' texCoord TextureCoordinate {\n'); |
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211 | fprintf(fp, ' point [\n'); |
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212 | fprintf(fp, ' %.4g %.4g,\n',PositionTexCoord); |
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213 | fprintf(fp, ' ]\n'); |
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214 | fprintf(fp, ' }\n'); |
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215 | fprintf(fp, ' texCoordIndex [\n'); |
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216 | fprintf(fp, ' %g %g %g -1,\n',Position3DCoordOrdeerIndex); |
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217 | fprintf(fp, ' ]\n'); |
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218 | fprintf(fp, ' }\n'); |
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219 | fprintf(fp, '}\n'); |
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220 | |
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221 | if Grid == 1 |
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222 | % ======================================== |
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223 | fprintf(fp, 'Shape{\n'); |
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224 | fprintf(fp, ' appearance Appearance { material Material {emissiveColor 1 0 0 }}\n'); |
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225 | fprintf(fp, ' geometry IndexedLineSet {\n'); |
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226 | fprintf(fp, ' coord Coordinate {\n'); |
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227 | fprintf(fp, ' point [ \n'); |
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228 | fprintf(fp, ' %.2f %.2f %.2f,\n',Position3DCoord); |
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229 | fprintf(fp, ' ]\n'); |
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230 | fprintf(fp, ' }\n'); |
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231 | fprintf(fp, ' coordIndex [\n'); |
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232 | fprintf(fp, ' %g %g %g %g -1,\n',GridPosition3DCoordOrdeerIndex); |
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233 | fprintf(fp, ' ]\n'); |
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234 | %fprintf(fp, ' color Color { color [1 0 0, 0 1 0, 0 0 1]}\n'); |
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235 | %fprintf(fp, ' colorIndex [0 0 0 0 0 ]\n'); |
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236 | fprintf(fp, ' colorPerVertex FALSE\n'); |
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237 | fprintf(fp, ' }\n'); |
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238 | %================================== |
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239 | fprintf(fp, ' }\n'); |
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240 | fprintf(fp, '}\n'); |
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241 | end |
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242 | % close the file |
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243 | fclose(fp); |
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244 | |
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245 | disp('Finished writing vrml'); |
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