gusucode.com > vision工具箱matlab源码程序 > vision/plotCamera.m
% plotCamera Plot a camera in 3-D coordinates.
% cam = plotCamera() returns a camera visualization object rendered
% in the current axes.
%
% cam = plotCamera(cameraTable) returns an array of camera visualization
% objects rendered in the current axes. cameraTable is a table containing
% properties of the camera visualization objects. The columns of the
% table can be any of the camera visualization object properties
% described below, except for 'Parent'. Additionally, if the table
% contains a 'ViewId' table, then the view ids will be used as camera
% labels.
%
% cam = plotCamera(..., Name, Value) creates a camera visualization
% object with the property values specified in the argument list.
% The following properties are supported:
%
% 'Location' Camera location specified as a 3-element vector of
% [x, y, z] coordinates in the data units of the parent.
%
% Default: [0, 0, 0]
%
% 'Orientation' A 3-by-3 3-D rotation matrix.
%
% Default: eye(3)
%
% 'Size' The width of camera's base specified as a scalar.
%
% Default: 1
%
% 'Label' Camera label specified as a string.
%
% Default: ''
%
% 'Color' The color of the camera specified as a string or a
% 3-element vector of RGB values with the range of [0, 1].
%
% Default: [1, 0, 0]
%
% 'Opacity' A scalar in the range of [0, 1] specifying the opacity
% of the camera.
%
% Default: 0.2
%
% 'Visible' A logical scalar, specifying whether the camera is visible.
%
% Default: true
%
% 'AxesVisible' A logical scalar, specifying whether to display
% camera's axes.
%
% Default: false
%
% 'ButtonDownFcn' Callback function that executes when you click the camera.
%
% Default: ''
%
% 'Parent' Specify an output axes for displaying the visualization.
%
% Default: gca
%
% Example 1 - Create an Animated Camera
% -------------------------------------
% % Plot a camera pointing along the Y-axis
% R = [1 0 0;
% 0 0 -1;
% 0 1 0];
%
% % Setting opacity of the camera to zero for faster animation.
% cam = plotCamera('Location', [10 0 20], 'Orientation', R, 'Opacity', 0);
%
% % Set view properties
% grid on
% axis equal
% axis manual
%
% % Make the space large enough for the animation.
% xlim([-15, 20]);
% ylim([-15, 20]);
% zlim([15, 25]);
%
% % Make the camera fly in a circle
% for theta = 0:pi/64:10*pi
% % Rotation about camera's y-axis
% T = [cos(theta) 0 sin(theta);
% 0 1 0;
% -sin(theta) 0 cos(theta)];
% cam.Orientation = T * R;
% cam.Location = [10 * cos(theta), 10 * sin(theta), 20];
% drawnow();
% end
%
% Example 2 - Sparse 3-D Reconstruction From Two Views
% ----------------------------------------------------
% % This example shows you how to perform sparse 3-D reconstruction from
% % two views, and how to visualize the resulting 3-D point cloud
% % together with the camera locations and orientations.
% % <a href="matlab:web(fullfile(matlabroot,'toolbox','vision','visiondemos','html','StructureFromMotionExample.html'))">View example</a>
%
% See also showExtrinsics, estimateWorldCameraPose, relativeCameraPose,
% extrinsics, extrinsicsToCameraPose
function cam = plotCamera(varargin)
params = parseInputs(varargin{:});
% Record the current 'hold' state so that we can restore it later.
holdState = get(params(1).Parent,'NextPlot');
for i = 1:numel(params)
hCamera(i) = vision.graphics.Camera.plotCameraImpl(...
double(params(i).Size), double(params(i).Location), ...
double(params(i).Orientation), params(i).Parent); %#ok<AGROW>
if isfield(params, 'ViewId')
hCamera(i).Label = num2str(params(i).ViewId); %#ok<AGROW>
else
hCamera(i).Label = params(i).Label; %#ok<AGROW>
end
hCamera(i).Visible = params(i).Visible; %#ok<AGROW>
hCamera(i).Color = params(i).Color; %#ok<AGROW>
hCamera(i).Opacity = params(i).Opacity; %#ok<AGROW>
hCamera(i).AxesVisible = params(i).AxesVisible; %#ok<AGROW>
hCamera(i).ButtonDownFcn = params(i).ButtonDownFcn; %#ok<AGROW>
hold on;
end
% Restore the hold state.
set(params(1).Parent, 'NextPlot', holdState);
if nargout > 0
cam = hCamera;
end
%--------------------------------------------------------------------------
function params = parseInputs(varargin)
import vision.graphics.*;
parser = inputParser;
parser.addParameter('Location', [0,0,0], @Camera.checkLocation);
parser.addParameter('Orientation', eye(3), @Camera.checkOrientation);
parser.addParameter('Size', 1, @Camera.checkCameraSize);
parser.addParameter('Color', [1 0 0], @Camera.checkColor);
parser.addParameter('Label', '', @Camera.checkLabel);
parser.addParameter('Visible', true, @Camera.checkVisible);
parser.addParameter('AxesVisible', false, @Camera.checkAxesVisible);
parser.addParameter('Opacity', 0.2, @Camera.checkOpacity);
parser.addParameter('ButtonDownFcn', '', @Camera.checkCallback);
parser.addParameter('Parent', [], @checkParent);
if ~isempty(varargin) && istable(varargin{1})
camTable = varargin{1};
checkCameraTable(camTable);
parser.parse(varargin{2:end});
params = table2struct(camTable);
singleParams = parser.Results;
if isempty(singleParams.Parent)
singleParams.Parent = gca();
end
singleParams.Location = singleParams.Location(:)';
singleParamNames = fields(parser.Results);
for i = 1:numel(singleParamNames)
if ~isfield(params, singleParamNames{i})
[params.(singleParamNames{i})] = deal(...
singleParams.(singleParamNames{i}));
end
end
else
parser.parse(varargin{:});
params = parser.Results;
% Set parent to gca if it is not specified.
% This must be done after parsing the parameters. Otherwise, a new axes may
% be created even if parameter validation fails.
if isempty(params.Parent)
params.Parent = gca();
end
% Force location to be a row vector;
params.Location = params.Location(:)';
end
%--------------------------------------------------------------------------
function tf = checkParent(parent)
tf = vision.internal.inputValidation.validateAxesHandle(parent);
%--------------------------------------------------------------------------
function checkCameraTable(camTable)
import vision.graphics.*;
validator = vision.internal.inputValidation.TableValidator;
validator.CanBeEmpty = false;
validator.OptionalVariableNames = {'ViewId', 'Location', 'Orientation', ...
'Size', 'Label', 'Color', 'Opacity', 'Visible', 'AxesVisible', ...
'ButtonDownFcn'};
validator.ValidationFunctions('Location') = @Camera.checkLocation;
validator.ValidationFunctions('Orientation') = @Camera.checkOrientation;
validator.ValidationFunctions('Size') = @Camera.checkCameraSize;
validator.ValidationFunctions('Label') = @Camera.checkLabel;
validator.ValidationFunctions('Visible') = @Camera.checkVisible;
validator.ValidationFunctions('Opacity') = @Camera.checkOpacity;
validator.ValidationFunctions('ButtonDownFcn') = @Camera.checkCallback;
validator.ValidationFunctions('ViewId') = ...
@(id)validateattributes(id, {'numeric'}, ...
{'integer', 'scalar', 'nonnegative'}, ...
mfilename, 'ViewId');
validator.validate(camTable, mfilename, 'cameraTable');