[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 [vrml_filename] = vrml_test_faceset_triangle(filename,Position3D,depth,ray,DepthDirectory,HBrokeBook,VBrokeBook,Grid,maskSky,Np,Sep,a,b,Ox,Oy,Thresh) |
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| 40 | %function [] = vrml_test_faceset_triangle(filename,PlaneParameterTure,LowResImgIndexSuperpixelSep,DepthDirectory,a,b,Ox,Oy) |
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| 41 | % this function play with the VRML |
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| 42 | % using only FaceSet |
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| 43 | % % global GeneralDataFolder ScratchDataFolder LocalFolder ClusterExecutionDirectory... |
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| 44 | % % ImgFolder VertYNuPatch VertYNuDepth HoriXNuPatch HoriXNuDepth a_default b_default Ox_default Oy_default... |
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| 45 | % % Horizon_default batchSize NuRow_default SegVertYSize SegHoriXSize WeiBatchSize; |
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| 46 | |
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| 47 | if nargin < 12 |
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| 48 | a = 0.70783777 %0.129; % horizontal physical size of image plane normalized to focal length (in meter) |
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| 49 | b = 0.946584169%0.085; % vertical physical size of image plane normalized to focal length (in meter) |
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| 50 | Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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| 51 | Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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| 52 | elseif nargin < 13 |
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| 53 | b = a; |
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| 54 | Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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| 55 | Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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| 56 | elseif nargin < 14 |
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| 57 | Ox = -0.010727086; % camera origin offset from the image center in horizontal direction |
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| 58 | Oy = -0.0111130176; % camera origin offset from the image center in vertical direction |
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| 59 | elseif nargin < 15 |
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| 60 | Oy = Ox; |
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| 61 | end |
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| 62 | |
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| 63 | % define global variable |
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| 64 | global GeneralDataFolder ScratchDataFolder LocalFolder; |
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| 65 | |
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| 66 | vrml_filename = ['tri_' filename '_' 'flipTri4.wrl']; |
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| 67 | %LowResImgIndexSuperpixelSepTemp = LowResImgIndexSuperpixelSep; |
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| 68 | %[VertYSize HoriXSize] = size(LowResImgIndexSuperpixelSepTemp); |
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| 69 | [dum VertYSize HoriXSize] = size(Position3D); |
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| 70 | %nu_patch = VertYSize* HoriXSize; |
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| 71 | |
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| 72 | Position3DCoord = reshape(Position3D,3,VertYSize*HoriXSize); |
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| 73 | Position3DCoord(3,:) = -Position3DCoord(3,:); % important to make z direction negative |
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| 74 | |
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| 75 | table = reshape(0:(VertYSize*HoriXSize-1),VertYSize,[]); |
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| 76 | Position3DCoordOrdeerIndex = []; |
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| 77 | GridPosition3DCoordOrdeerIndex = []; |
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| 78 | |
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| 79 | countPoints=length(Position3DCoord)+1; |
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| 80 | unassignedTargets = 0; |
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| 81 | for i = 1:VertYSize-1 |
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| 82 | for j = 1:HoriXSize-1 |
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| 83 | % check which diagnoal to render |
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| 84 | target = [HBrokeBook(i,j) VBrokeBook(i,j+1) HBrokeBook(i+1,j) VBrokeBook(i,j)]; |
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| 85 | clear Index; |
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| 86 | clear GridIndex; |
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| 87 | clear indexArray; |
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| 88 | |
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| 89 | if (all(target == [0 0 0 0]) || all(target == [0 0 1 1]) || all(target == [1 1 0 0])) |
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| 90 | Index = [ table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i+1,j+1) table(i,j+1)]; |
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| 91 | GridIndex = [table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i,j) table(i+1,j+1) table(i,j+1) table(i,j)]; |
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| 92 | indexArray = [i i+1 i+1 i i+1 i; ... |
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| 93 | j j j+1 j j+1 j+1]; |
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| 94 | elseif (all(target == [1 0 0 1]) || all(target == [0 1 1 0])) |
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| 95 | Index = [ table(i,j) table(i+1,j) table(i,j+1) table(i+1,j) table(i+1,j+1) table(i,j+1)]; |
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| 96 | GridIndex = [ table(i,j) table(i+1,j) table(i,j+1) table(i,j) table(i+1,j) table(i+1,j+1) table(i,j+1) table(i+1,j)]; |
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| 97 | indexArray = [i i+1 i i+1 i+1 i; ... |
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| 98 | j j j+1 j j+1 j+1]; |
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| 99 | else |
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| 100 | unassignedTargets=unassignedTargets+1; |
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| 101 | Index = [ table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i+1,j+1) table(i,j+1)]; |
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| 102 | GridIndex = [table(i,j) table(i+1,j) table(i+1,j+1) table(i,j) table(i,j) table(i+1,j+1) table(i,j+1) table(i,j)]; |
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| 103 | indexArray = [i i+1 i+1 i i+1 i; ... |
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| 104 | j j j+1 j j+1 j+1]; |
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| 105 | end |
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| 106 | |
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| 107 | % Sky Exclude |
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| 108 | if maskSky(i,j)==1 |
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| 109 | %% check if the neighbors are sky as well, for Np length |
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| 110 | if (j+(Np-1))>HoriXSize |
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| 111 | jL=HoriXSize; |
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| 112 | else |
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| 113 | jL=j+(Np-1); |
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| 114 | end |
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| 115 | if (i+(Np-1))>VertYSize |
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| 116 | iL=VertYSize; |
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| 117 | else |
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| 118 | iL=i+(Np-1); |
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| 119 | end |
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| 120 | if ((sum(xor(maskSky(i,j:jL),ones(1,length(maskSky(i,j:jL)))))>0)||... |
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| 121 | sum(xor(maskSky(i:iL,j),ones(length(maskSky(i:iL,j)),1)))>0) |
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| 122 | %% also update the depth values for all the 6 points by |
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| 123 | %% changing them to a value of any non-sky point in the |
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| 124 | %% vicinity of Np down and to the right |
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| 125 | |
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| 126 | %% so first we find the point non-sky point which made us |
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| 127 | %% include this sky point |
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| 128 | iRep=i; |
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| 129 | indexVec=j:jL; |
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| 130 | nonSkyPoints=find(maskSky(i,indexVec)==0); |
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| 131 | if length(nonSkyPoints)>0 |
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| 132 | jRep=indexVec(nonSkyPoints(1)); |
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| 133 | else |
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| 134 | jRep=j; |
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| 135 | indexVec=i:iL; |
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| 136 | nonSkyPoints=find(maskSky(indexVec,j)==0); |
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| 137 | iRep=indexVec(nonSkyPoints(1)); |
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| 138 | end |
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| 139 | iChoose=iRep; |
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| 140 | jChoose=jRep; |
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| 141 | firstTriPoints=[]; |
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| 142 | num=1; |
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| 143 | [firstTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,firstTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose); |
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| 144 | max_or_second_max=1; |
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| 145 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 146 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 147 | max_or_second_max=2; |
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| 148 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 149 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 150 | % |
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| 151 | secondTriPoints=[]; |
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| 152 | num=2; |
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| 153 | [secondTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,secondTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose); |
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| 154 | max_or_second_max=1; |
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| 155 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 156 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 157 | max_or_second_max=2; |
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| 158 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 159 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 160 | % |
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| 161 | Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index]; |
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| 162 | GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex]; |
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| 163 | % if ((max(Index(1:3))<16775)&&(max(GridIndex(1:4))<16775)) |
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| 164 | % Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(1:3)]; |
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| 165 | % GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(1:4)]; |
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| 166 | % end |
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| 167 | % if ((max(Index(4:6))<16775)&&(max(GridIndex(5:8))<16775)) |
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| 168 | % Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(4:6)]; |
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| 169 | % GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(5:8)]; |
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| 170 | % end |
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| 171 | end |
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| 172 | else |
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| 173 | iChoose=i; |
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| 174 | jChoose=j; |
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| 175 | firstTriPoints=[]; |
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| 176 | num=1; |
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| 177 | [firstTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,firstTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose); |
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| 178 | max_or_second_max=1; |
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| 179 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 180 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 181 | max_or_second_max=2; |
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| 182 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(firstTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 183 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 184 | % |
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| 185 | secondTriPoints=[]; |
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| 186 | num=2; |
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| 187 | [secondTriPoints,Position3DCoord, depth]=removeSkyPointsDepth(maskSky,indexArray,num,secondTriPoints,ray,depth,VertYSize,HoriXSize,Position3DCoord,iChoose,jChoose); |
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| 188 | max_or_second_max=1; |
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| 189 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 190 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 191 | max_or_second_max=2; |
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| 192 | [countPoints, Position3DCoord, Index, GridIndex, depth]=removeOffsetPointsReplaceDepth(secondTriPoints, Thresh, num, max_or_second_max, ray, indexArray, depth, ... |
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| 193 | VertYSize, HoriXSize, Position3DCoord, Index, GridIndex, countPoints); |
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| 194 | % |
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| 195 | Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index]; |
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| 196 | GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex]; |
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| 197 | |
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| 198 | % if ((max(Index(1:3))<16775)&&(max(GridIndex(1:4))<16775)) |
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| 199 | % Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(1:3)]; |
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| 200 | % GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(1:4)]; |
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| 201 | % end |
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| 202 | % if ((max(Index(4:6))<16775)&&(max(GridIndex(5:8))<16775)) |
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| 203 | % Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index(4:6)]; |
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| 204 | % GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex(5:8)]; |
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| 205 | % end |
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| 206 | end |
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| 207 | % Position3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex Index]; |
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| 208 | % GridPosition3DCoordOrdeerIndex = [Position3DCoordOrdeerIndex GridIndex]; |
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| 209 | end |
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| 210 | end |
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| 211 | |
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| 212 | % calculate PositionTexCoord |
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| 213 | PositionTex = permute(ray(:,:,1:2)./repmat(cat(3,a,b),[VertYSize HoriXSize 1])+0.5,[3 1 2]); |
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| 214 | PositionTexCoord = PositionTex; |
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| 215 | |
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| 216 | Xmin=min(Position3DCoord(1,:))-Sep; |
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| 217 | Xmax=max(Position3DCoord(1,:))+Sep; |
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| 218 | Ymin=min(Position3DCoord(2,:))-Sep; |
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| 219 | Ymax=max(Position3DCoord(2,:))+Sep; |
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| 220 | Zmin=min(Position3DCoord(3,:))-Sep; |
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| 221 | Zmax=min(Position3DCoord(3,:))+Sep; |
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| 222 | %% the eight corners of the cube would then be |
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| 223 | cc=[]; |
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| 224 | cc = [cc [Xmin Ymin Zmin]']; %% 1 |
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| 225 | cc = [cc [Xmax Ymin Zmin]']; %% 2 |
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| 226 | cc = [cc [Xmin Ymin Zmax]']; %% 3 |
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| 227 | cc = [cc [Xmax Ymin Zmax]']; %% 4 |
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| 228 | |
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| 229 | cc = [cc [Xmin Ymax Zmin]']; %% 5 |
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| 230 | cc = [cc [Xmax Ymax Zmin]']; %% 6 |
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| 231 | cc = [cc [Xmin Ymax Zmax]']; %% 7 |
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| 232 | cc = [cc [Xmax Ymax Zmax]']; %% 8 |
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| 233 | |
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| 234 | % wallIndices = [front_wall right_wall back_wall left_wall]; |
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| 235 | wallIndices = [2 4 8 6 4 8 7 3 3 7 5 1]-1; |
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| 236 | |
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| 237 | % inital header |
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| 238 | disp('writing vrml..'); |
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| 239 | fp = fopen([ScratchDataFolder '/vrml/' vrml_filename],'w'); |
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| 240 | |
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| 241 | fprintf(fp, '#VRML V2.0 utf8\n'); |
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| 242 | |
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| 243 | % add navigate_info |
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| 244 | fprintf(fp, 'NavigationInfo {\n'); |
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| 245 | fprintf(fp, ' headlight TRUE\n'); |
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| 246 | fprintf(fp, ' type ["FLY", "ANY"]}\n\n'); |
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| 247 | |
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| 248 | % add viewpoint |
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| 249 | fprintf(fp, 'Viewpoint {\n'); |
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| 250 | fprintf(fp, ' position 0 0.0 0.0\n'); |
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| 251 | fprintf(fp, ' orientation 0 0 0 0\n'); |
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| 252 | fprintf(fp, ' fieldOfView 0.7\n'); |
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| 253 | fprintf(fp, ' description "Original"}\n'); |
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| 254 | |
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| 255 | % add Shape for texture faceset |
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| 256 | fprintf(fp, 'Shape{\n'); |
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| 257 | fprintf(fp, ' appearance Appearance {\n'); |
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| 258 | fprintf(fp, [' texture ImageTexture { url "./image/' filename '.jpg' '" }\n']); |
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| 259 | fprintf(fp, ' }\n'); |
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| 260 | fprintf(fp, ' geometry IndexedFaceSet {\n'); |
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| 261 | fprintf(fp, ' coord Coordinate {\n'); |
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| 262 | |
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| 263 | % insert coordinate in 3d |
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| 264 | % ======================= |
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| 265 | fprintf(fp, ' point [ \n'); |
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| 266 | fprintf(fp, ' %.2f %.2f %.2f,\n',Position3DCoord); |
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| 267 | fprintf(fp, ' ]\n'); |
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| 268 | fprintf(fp, ' }\n'); |
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| 269 | |
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| 270 | % insert coordinate index in 3d |
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| 271 | fprintf(fp, ' coordIndex [\n'); |
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| 272 | fprintf(fp, ' %g %g %g -1,\n',Position3DCoordOrdeerIndex); |
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| 273 | fprintf(fp, ' ]\n'); |
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| 274 | |
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| 275 | % insert texture coordinate |
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| 276 | fprintf(fp, ' texCoord TextureCoordinate {\n'); |
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| 277 | fprintf(fp, ' point [\n'); |
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| 278 | fprintf(fp, ' %.4g %.4g,\n',PositionTexCoord); |
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| 279 | fprintf(fp, ' ]\n'); |
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| 280 | fprintf(fp, ' }\n'); |
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| 281 | fprintf(fp, ' }\n'); |
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| 282 | fprintf(fp, '}\n'); |
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| 283 | % %% Now we make the wall |
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| 284 | % |
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| 285 | % % add Shape for texture faceset |
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| 286 | % fprintf(fp, 'Shape{\n'); |
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| 287 | % fprintf(fp, ' appearance Appearance {\n'); |
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| 288 | % %% one can change the sky color here, at the moment its a shade of blue |
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| 289 | % %% given as [0.31 0.54 0.76] |
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| 290 | % fprintf(fp, ' material Material { emissiveColor 0.31 0.54 0.76 }\n'); |
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| 291 | % fprintf(fp, ' }\n'); |
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| 292 | % fprintf(fp, ' geometry IndexedFaceSet {\n'); |
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| 293 | % fprintf(fp, ' coord Coordinate {\n'); |
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| 294 | % |
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| 295 | % % insert coordinate in 3d |
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| 296 | % % ======================= |
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| 297 | % fprintf(fp, ' point [ \n'); |
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| 298 | % fprintf(fp, ' %.2f %.2f %.2f,\n',cc); |
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| 299 | % fprintf(fp, ' ]\n'); |
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| 300 | % fprintf(fp, ' }\n'); |
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| 301 | % |
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| 302 | % % insert coordinate index in 3d |
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| 303 | % fprintf(fp, ' coordIndex [\n'); |
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| 304 | % %Position3DCoordOrdeerIndex = 0:(size(Position3DCoord,2)-1); |
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| 305 | % fprintf(fp, ' %g %g %g %g -1,\n',wallIndices); |
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| 306 | % fprintf(fp, ' ]\n'); |
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| 307 | % |
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| 308 | % % ================================== |
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| 309 | % fprintf(fp, ' }\n'); |
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| 310 | % fprintf(fp, '}\n'); |
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| 311 | |
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| 312 | if Grid == 1 |
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| 313 | % ======================================== |
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| 314 | fprintf(fp, 'Shape{\n'); |
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| 315 | fprintf(fp, ' appearance Appearance { material Material {emissiveColor 1 0 0 }}\n'); |
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| 316 | fprintf(fp, ' geometry IndexedLineSet {\n'); |
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| 317 | fprintf(fp, ' coord Coordinate {\n'); |
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| 318 | fprintf(fp, ' point [ \n'); |
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| 319 | fprintf(fp, ' %.2f %.2f %.2f,\n',Position3DCoord); |
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| 320 | fprintf(fp, ' ]\n'); |
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| 321 | fprintf(fp, ' }\n'); |
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| 322 | fprintf(fp, ' coordIndex [\n'); |
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| 323 | fprintf(fp, ' %g %g %g %g -1,\n',GridPosition3DCoordOrdeerIndex); |
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| 324 | fprintf(fp, ' ]\n'); |
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| 325 | %fprintf(fp, ' color Color { color [1 0 0, 0 1 0, 0 0 1]}\n'); |
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| 326 | %fprintf(fp, ' colorIndex [0 0 0 0 0 ]\n'); |
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| 327 | fprintf(fp, ' colorPerVertex FALSE\n'); |
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| 328 | fprintf(fp, ' }\n'); |
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| 329 | %================================== |
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| 330 | fprintf(fp, ' }\n'); |
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| 331 | fprintf(fp, '}\n'); |
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| 332 | end |
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| 333 | % close the file |
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| 334 | fclose(fp); |
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| 335 | |
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