1 | function [align] = g9(in,config) |
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2 | % g9 ... local alignment for room G9 |
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3 | % |
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4 | % [align] = G9(in,config) |
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5 | % in, cam, config ... see the main GOCAL script |
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6 | % |
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7 | % align ... structures aligned wit the specified world frame |
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8 | % |
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9 | % $Id: g9.m,v 1.1 2005/05/20 15:31:31 svoboda Exp $ |
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10 | |
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11 | REALVIZ = 0; |
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12 | |
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13 | Cst = in.Cst; |
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14 | Rot = in.Rot; |
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15 | |
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16 | drawscene(in.Xe,Cst',Rot,41,'cloud','Graphical Output Validation: View from top or bottom',config.cal.cams2use); |
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17 | |
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18 | % definition of the absolute world frame |
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19 | % cam(1).C = [3, 1.25, 0.57]'; |
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20 | cam(2).C = [3, 1.8, 0.2]'; |
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21 | cam(3).C = [-2.2, 2.05, 0.1]'; |
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22 | cam(4).C = [-2.2, 2.05, 3.2]'; |
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23 | |
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24 | idx = [2:4]; |
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25 | |
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26 | % of the similarity computation |
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27 | |
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28 | [align.simT.s, align.simT.R, align.simT.t] = estsimt([Cst(idx,:)'],[cam(idx).C]); |
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29 | [align.P, align.X] = align3d(in.Pe,in.Xe,align.simT); |
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30 | % save aligned data |
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31 | if 1 % SAVE_STEPHI | SAVE_PGUHA |
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32 | [align.Cst,align.Rot] = savecalpar(align.P,config); |
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33 | end |
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34 | drawscene(align.X,align.Cst',align.Rot,61,'cloud','Graphical Output Validation: Aligned data',config.cal.cams2use); |
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35 | |
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36 | set(gca,'CameraTarget',[0,0,0]); |
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37 | set(gca,'CameraPosition',[0,1,0]); |
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38 | |
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39 | figure(61), |
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40 | % print -depsc graphevalaligned.eps |
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41 | eval(['print -depsc ', config.paths.data, 'topview.eps']) |
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42 | |
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43 | drawscene(align.X,align.Cst',align.Rot,62,'cloud','Graphical Output Validation: Aligned data',config.cal.cams2use); |
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44 | |
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45 | set(gca,'CameraTarget',[0,2.05,0]); |
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46 | set(gca,'CameraPosition',[0,2.05,3]); |
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47 | |
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48 | figure(62), |
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49 | % print -depsc graphevalaligned.eps |
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50 | eval(['print -depsc ', config.paths.data, 'sideview.eps']) |
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51 | |
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52 | return |
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