[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 [] = OcclusionRemoveRefineMent(defaultPara, Wrlname, PairList, PostFixStrAfter) |
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| 40 | |
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| 41 | % This function do three thing |
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| 42 | % 1) detect the occlusion from the current model |
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| 43 | % 2) decide redundent plane |
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| 44 | % 3) Re-Render by not rendering the redundent plane information |
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| 45 | |
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| 46 | % Input: |
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| 47 | % 1) defaultPara - all parameter share for the whole stitching3d folder |
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| 48 | % 2) Wrlname - the name of the model, different by the PairList |
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| 49 | % 3) PairList - the linearly order of image that been added to the model |
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| 50 | |
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| 51 | % Fixed constant --- need to be put in defaultPara by Min later |
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| 52 | NegI = diag([1 1 -1]); |
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| 53 | PostFixStr = 'NonMono';%'NonMonoOccluMatched' |
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| 54 | if nargin <4 |
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| 55 | PostFixStrAfter = 'OccluRemove'; |
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| 56 | end |
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| 57 | DisCtsThre = 0.1; % fractional error |
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| 58 | OcclusionRatioThre = 1.1; |
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| 59 | |
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| 60 | % 1) Run occlusion detection and Matcheing for every pair of images |
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| 61 | |
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| 62 | ImgList = unique(PairList); |
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| 63 | NumImg = length(ImgList); |
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| 64 | |
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| 65 | % copy the ImgInfo of each image to another "PostFixStrAfter".mat file |
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| 66 | for i = 1:NumImg |
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| 67 | load([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStr '.mat']); |
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| 68 | save([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStrAfter '.mat'],'model'); |
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| 69 | end |
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| 70 | |
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| 71 | % detect occlusion for every pair of image |
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| 72 | for i = 1:NumImg |
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| 73 | for j = (i+1):NumImg |
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| 74 | |
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| 75 | [ImgInfo1 ImgInfo2 Pair GlobalScale] = ... % What to do with Pairs haven't been matched ??????????????????? |
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| 76 | LoadDataForFindOcclu(defaultPara, Wrlname, ImgList{i}, ImgList{j}, ... |
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| 77 | 0, PostFixStrAfter); % load all imformation needed for occlusion detection |
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| 78 | |
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| 79 | % Define variables |
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| 80 | H = 2274; |
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| 81 | V = 1704; |
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| 82 | Img1 = ImgInfo1.ExifInfo.IDName; |
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| 83 | Img2 = ImgInfo2.ExifInfo.IDName; |
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| 84 | I1=imreadbw([defaultPara.Fdir '/pgm/' Img1 '.pgm']); % function from sift |
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| 85 | I2=imreadbw([defaultPara.Fdir '/pgm/' Img2 '.pgm']); % function from sift |
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| 86 | ImgScale1 = size(I1); |
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| 87 | ImgScale2 = size(I2); |
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| 88 | |
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| 89 | % time consuming about 5mins |
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| 90 | if ~defaultPara.Flag.FlagPreloadOccluDetect |
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| 91 | [PointPix1 PointDepth1 FaceSetPickedIND1 POriReprojM1 FieldOccluPix1 OccluDist1 OccluedFaceSetIND1 ... |
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| 92 | PointPix2 PointDepth2 FaceSetPickedIND2 POriReprojM2 FieldOccluPix2 OccluDist2 OccluedFaceSetIND2] = ... |
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| 93 | FindOccluPair(defaultPara, ImgInfo1, ImgInfo2, Pair, GlobalScale, 0); % detect occlsion (use Ray as detector not the surf Features) |
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| 94 | % data Struction define: |
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| 95 | % PointPix PointDepth FaceSetPickedIND POriReprojM FieldOccluPix OccluDist OccluedFaceSetIND |
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| 96 | % -- allof the size that single ray pass through both FaceSet |
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| 97 | % FaceSetPickedIND1 used in DepthMap size or surfFeature size |
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| 98 | % OccluedFaceSetIND1 used in DepthMap size |
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| 99 | |
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| 100 | save([ defaultPara.Fdir '/data/' Img1 '_' Img2 '_OccluDetect_Ray.mat'],... |
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| 101 | 'PointPix1','PointDepth1','FaceSetPickedIND1','POriReprojM1','FieldOccluPix1','OccluDist1','OccluedFaceSetIND1',... |
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| 102 | 'PointPix2','PointDepth2','FaceSetPickedIND2','POriReprojM2','FieldOccluPix2','OccluDist2','OccluedFaceSetIND2'); |
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| 103 | else |
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| 104 | load([defaultPara.Fdir '/data/' Img1 '_' Img2 '_OccluDetect_Ray.mat']); |
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| 105 | end |
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| 106 | |
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| 107 | % Define occlusion if OccluDist > CentainThreshold |
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| 108 | Mask1 = PointDepth1./OccluDist1 > OcclusionRatioThre;%defaultPara.OccluDistThre; |
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| 109 | Mask2 = PointDepth2./OccluDist2 > OcclusionRatioThre;%defaultPara.OccluDistThre; |
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| 110 | |
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| 111 | % Pick the redundent plane and make the corresponding Sup to zero |
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| 112 | [model1 model2] = RedundentPlanePick(defaultPara, ImgInfo1, ImgInfo2, Pair, GlobalScale, ... |
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| 113 | FaceSetPickedIND1(Mask1), OccluedFaceSetIND1(Mask1), ... |
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| 114 | FaceSetPickedIND2(Mask2), OccluedFaceSetIND2(Mask2)); |
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| 115 | |
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| 116 | % storage the new ImgInfo.Model.PlaneParaInfo.SupOri |
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| 117 | model = model1; |
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| 118 | save([defaultPara.Fdir '/data/' Img1 '/' Wrlname '_' Img1 '_' PostFixStrAfter '.mat'],'model'); |
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| 119 | model = model2; |
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| 120 | save([defaultPara.Fdir '/data/' Img2 '/' Wrlname '_' Img2 '_' PostFixStrAfter '.mat'],'model'); |
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| 121 | end |
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| 122 | end |
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| 123 | |
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| 124 | % 2) Render of each image individiually |
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| 125 | |
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| 126 | for i = 1:NumImg |
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| 127 | |
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| 128 | % Data preparing and ReInfernece |
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| 129 | Default.Wrlname{1} = [Wrlname '_' ImgList{i} '_' PostFixStrAfter]; |
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| 130 | Default.filename{1} = ['../' ImgList{i}]; |
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| 131 | load([defaultPara.Fdir '/data/' ImgList{i} '/' Wrlname '_' ImgList{i} '_' PostFixStrAfter '.mat']); |
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| 132 | Default.OutPutFolder = [ defaultPara.OutPutFolder ImgList{i} '/']; |
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| 133 | |
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| 134 | if false |
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| 135 | DiffHori = conv2(model.PlaneParaInfo.FitDepth, [1 -1], 'valid'); |
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| 136 | DiffVert = conv2(model.PlaneParaInfo.FitDepth, [1; -1], 'valid'); |
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| 137 | maskH = [ (DiffHori./model.PlaneParaInfo.FitDepth(:,2:end) > DisCtsThre) zeros(size(model.PlaneParaInfo.FitDepth,1),1)]; |
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| 138 | maskH(end,:) = 0; |
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| 139 | maskV = [ (DiffVert./model.PlaneParaInfo.FitDepth(2:end,:) > DisCtsThre); zeros(1, size(model.PlaneParaInfo.FitDepth,2))]; |
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| 140 | maskV(:,end) = 0; |
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| 141 | model.PlaneParaInfo.SupOri(logical( maskH) ) = 0; |
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| 142 | model.PlaneParaInfo.SupOri(logical( maskV) ) = 0; |
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| 143 | end |
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| 144 | |
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| 145 | WrlFacestHroiReduce(model.PlaneParaInfo.Position3DFited, model.PlaneParaInfo.PositionTex, model.PlaneParaInfo.SupOri, ... |
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| 146 | Default.filename{1}, Default.Wrlname{1}, ... |
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| 147 | Default.OutPutFolder, 0, 0); |
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| 148 | % SingleImgReInference(defaultPara, model, ImgList{i}, LoadModelStatus(defaultPara.Fdir, Wrlname, ImgList{i}, 'GroundLevel')); |
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| 149 | |
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| 150 | % Build Meta Wrl file |
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| 151 | |
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| 152 | Path = [ defaultPara.OutPutFolder Wrlname '_' PostFixStrAfter '.wrl']; |
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| 153 | InLinePath = ['./' ImgList{i} '/' Default.Wrlname{1} '.wrl']; |
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| 154 | R = LoadModelStatus( defaultPara.Fdir, Wrlname, ImgList{i}, 'R'); |
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| 155 | Q = Rotation2Q(NegI*R*NegI);% for Wrl (-) z component; |
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| 156 | if any(isnan(Q)) |
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| 157 | Q = zeros(4,1); |
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| 158 | end |
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| 159 | % =============================== |
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| 160 | T = LoadModelStatus( defaultPara.Fdir, Wrlname, ImgList{i}, 'T'); |
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| 161 | WRLT = T; |
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| 162 | WRLT(3) = -WRLT(3);% for Wrl (-) z component; |
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| 163 | Scale = LoadModelStatus(defaultPara.Fdir, Wrlname, ImgList{i}, 'Scale'); |
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| 164 | if i == 1 |
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| 165 | BuildVrmlMetaModel(1, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
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| 166 | else |
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| 167 | BuildVrmlMetaModel(0, defaultPara.OutPutFolder, Path, InLinePath, Q, WRLT, repmat(Scale,3,1)); |
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| 168 | end |
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| 169 | end |
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| 170 | |
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| 171 | return; |
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