test.m

clc;
addpath('./utils/nyu-hooks');
addpath('./utils/depth_features');
% matrix_filename = 'camera_rotations_NYU.txt';
depth_image_root = './depth'       % dir where depth and raw depth images are in.
% camera_matrix = textread(matrix_filename);     % import matrix data


C = getCameraParam('color');

for i=1:1
    i
    matrix = C;    %camera_matrix(1+(i-1)*3:i*3,:);        % matrix of this image, 3*3
    D = imread(fullfile(depth_image_root, '/', [mat2str(i-1),'.png']));

    % here, RD is the same as D, because there is some problem about NYU Depth V2 raw-depth-images
    RD = imread(fullfile(depth_image_root, '/', [mat2str(i-1),'.png']));
    
    D = double(D)/10000;
    missingMask = RD==0;
    [pc, N, yDir, h, pcRot, NRot] = processDepthImage(D*100, missingMask, C);

    [X, Y, Z] = getPointCloudFromZ(D*100, C, 1);
    fid = fopen('demo-data/pd.txt', 'w');
   	for ii=1:size(X, 1)
   		for jj = 1:size(X, 2)
			fprintf(fid,'%f\t%f\t%f\n',X(ii, jj), Y(ii, jj), Z(ii, jj));
		end
	end
    hha = saveHHA([mat2str(i-1), '_hha'], matrix, depth_image_root, D, RD);
end