Scaling:
1) Individual model scale: the depth scale generated from Mono-inference
	- ImgInfo.Model.Depth....
	- ImgInfo.Model.Constrain.Depth_modified % matched triangulated depth
	- ImgInfo.Model.PlaneParaInfo.PlanePara
	- ImgInfo.Model.PlaneParaInfo.FitDepth
	- ImgInfo.Model.PlaneParaInfo.Position3DFited
2) PairMatchScale
	- Pair.T
	- Pair.lamda
3) GlobalModelScale
	- 

Scale Transform:
1) Pair.DepthScale: Individual model scale*Pair.DepthScale = PairMatchScale
2) ModelStatus.Scale: Individual model scale*ModelStatus.Scale = GlobalModelScale

Storaged Data Structure

0) First stage data from GPS, IMU, and Google earth modification
Description:
	ImgInfo in the camera Exif file
	Geo info from GPS and Modified by Google Earth
	Orientation info from IMU and Modified by Google Earth	

Path:
	./data/

FileName:
	ImgInfo.mat

Variables:
	ImgInfo - Struture
		.ExifInfo - Struture
			.name - String, the name of the image (including file extension)
			---------------
			all other infomation depending on your camera default
			ex: .FocalLength
			---------------
		.Geo - Structure
			.Longitude - double
			.Latitude - double
			.altitude - double
		.Rw - 3 x 1,  [ Pitch Yaw Roll]
		.X_world - 3 by 1, global Cartesian coordinate, calculated from Geo infomation
Comments:	
	
	
1) Individual image infomation

Description:
	Infomation of indiviual image infomation
	Start form Mono-infomation
	Then evlove with Matches infomation 
	and Occlusion Refinement infomation
	(Notice always maintained in the Scale of beginning Mono-Model)

Path:
	./data/"Img1Name"/
FileName:
	"WrlName"_"Img1Name"_"PostFix".mat
	(ex: Multi_IMG_0606_Mono.mat)

Variables:
	model - structure
		(From Mono)
		.Depth - Structure
			.FitDepth (nxm) double, DepthMap after Mono PlaneParameter Model fiting depths
			.RawDepth (nxm) double, DepthMap from image learning	
		.Ray - 3xnxm double, unit 3-d vector indiacte the track of ray a specific image point come from
			( 3DPosition = Ray(:,:).*repmat(FitDepth(:)',3,1))
		.Sup - nxm integer, index that group each point into a Superpixel
		.maskG - nxm logical, 1 indicated Ground
		.maskSky - nxm logical, 1 indicated sky
		.SupNeighborTable - MaxIndexSup x MaxIndexSup, is a look up table of which Sups are neighboring each other
		.MultiScaleSupTable - NumUniqueSup x 14(14 type of Bigger group of points)

		(From Matches)
		.Constrain - Structure
			.RayMatche - NumMatches x 3, the Ray that correspoding to the matches feature points
			.Depth_modified - 1 x NumMatches, the triangulated depth in Indivial Model Scale
			.SupMatched - NumMatches x 1, the sup index of the matches

		(UptoDate Model after any Re-Inference)
		.PlaneParaInfo - Structure
			.PlanePara - 3 by NumUniqueSup, the plane parameter after Re-inference in Indivial Model Scale
			.Sup2Para - 1 by MaxIndexofSupEpand, since not all the sup have a PlaneParameter, 
					Sup2Para is the hash table of Sup Index to PlaneParameter Index
			.SupEpand - nxm integer, Superpixel index after some Process to clean the Sky Boundary
			.maskSkyEroded - nxm logical, new sky mask after some process
			.Ray -  3xnxm double, unit 3-d vector indiacte the track of ray a specific image point come from
	                        ( 3DPosition = Ray(:,:).*repmat(FitDepth(:)',3,1))	
			.PositionTex - n x m x 2 double, used my VRMl rendering
					(ex: PositionTex(:,:,1) are the X position of the FaceSet Points in the range from 0 to 1)
			.FitDepth - (nxm) double, DepthMap after Mono PlaneParameter Model fiting depths
			.Position3DFited - (n x m x 3) double, 3D position of each FaceSet Points
			.SupOri - nxm integer, index that group each point into a Superpixel

		(From Refinement)
		.ConstrainOccluMatch
Comments:	

 
2) Pair image infomation
% ============================================================================
Description:
	Infomation obtained after matching pair of images

Path: 
	./data/

FileName: 
	"Img1Name"_"Img2Name"_PoseMatch.mat

Variables:
	Error - integer from -1 to 6, indicating different error type when matched
	Matches - (2 by NumMatches) integer, indicating the index of the whole surf Features Set
	Pair - Structure
		.R - 3x3 double, the rotation matrix from Img1 Coordinate to Img2 Coordinate
		.T - 3x1 double, the translation matrix from Img1 Coordinate to Img2 Coordinate
			(ex: X2 = R*X1+T)
		.Xim - 4 by NumMatches integer, 
			Xim(1:2,:) indicating the (X Y) position (in pixel) of the Matched points in Img1
			Xim(3:4,:) indicating the (X Y) position (in pixel) of the Matched points in Img2
		.lamda - 2 by NumMatches double, 
			lamda(1,:) is the triangulated depths in Img1 in Pair Match Scale
			lamda(2,:) is the triangulated depths in Img2 in Pair Match Scale
		.DepthScale - 2x1 double, indicate the Scaling factoe when applying the single model depths the the triangulated depths
		 		(ex: DepthScale(1)*IndivialModelDepth = PairMatchedDepths in Img1)	
		.t -empty
Comments:	
	Should merge Error and Matches into Pair.Error Pair.Matches,
	and erase Pair.t
% =============================================================================== //Min to do
Description:
Path:
	./data/

FileName:
	"Img1Name"_"Img2Name"_OccluDetect_Ray.mat

Variables:
Comments:	

% ===============================================================================
3) Whole model infomation

Template -

Description:
Path:
FileName:
Variables:
Comments: