loadTestingMatFiles.m

%{
 * Copyright (C) 2013-2020, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function pc_all = loadTestingMatFiles(path, mat_files)
    % load pc 
    for i = 1:size(mat_files,2)
        testing_pc = loadPointCloud(path, mat_files(i));
        
        % randomly find a scan to project
        num_scan = size(testing_pc, 1);
        scan = randi([1 num_scan],1);
        
        points = testing_pc(scan, :, 1:3);
        points = (reshape(points, size(points, 2),[]))';
        for j = 1:size(points, 2)
            if ~any(all(points(:, j), 2))
                    pc_all(i).mat_pc = [points(:, 1:j-1); ...
                        ones(1, size(points(:, 1:j-1), 2))];
                break;
            end
        end
    end
end