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213 jakw 1 
function writeMeshLabALN(alnStruct, alnFileName)
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% write meshlab aln file
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fid = fopen(alnFileName, 'w');
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nPointClouds = length(alnStruct);
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fprintf(fid, '%d\n', nPointClouds);
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for i=1:nPointClouds
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    fprintf(fid, '%s\n#\n', alnStruct(i).FileName);
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    TR = eye(4,4);
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    TR(1:3,1:3) = alnStruct(i).Rotation;
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    TR(1:3, 4) = alnStruct(i).Translation;
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    TR = transpose(TR);
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    fprintf(fid, '%f %f %f %f\n', TR);
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end
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fclose(fid);
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end
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