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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of gcamera</title> <meta name="keywords" content="gcamera"> <meta name="description" content="GCAMERA graphical camera model"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="../m2html.css"></head><body><a name="_top"></a><div><a href="../index.html">Home</a> > <a href="#">simulink</a> > gcamera.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png"> Master index</a></td><td align="right"><a href="index.html">Index for ./simulink <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>gcamera</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>GCAMERA graphical camera model</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>function ovar = gcamera(a1, a2, a3, a4) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre class="comment">GCAMERA graphical camera model H = GCAMERA(NAME, C, DIMS) Create a graphical camera with name NAME, pixel dimensions given by DIMS = [xmin xmax ymin ymax] for the axes, and calibration matrix C. Returns H, the handle to the graphical camera. Once created update the camera's view with uv = GCAMERA(H, POINTS) uv = GCAMERA(H, POINTS, Tobj) uv = GCAMERA(H, POINTS, Tobj, Tcam) where H is the handle previously returned, and POINTS is the data to be displayed. POINTS represents the 3D data to be displayed in the camera view. If POINTS has 3 columns it is treated as a number of 3D points in world coordinates, one point per row. Each point is transformed and displayed as a round marker. If POINTS has 6 columns, each row is treated as the start and end 3D coordinate for a line segment, in world coordinates. Each end of the line is transformed and a line segment displayed. The optional arguments, Tobj, represents a transformation that can be applied to the object data, POINTS, prior to 'imaging'. Tcam is the pose of the camera which defaults to the orign looking along the Z-axis. Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>This function calls:<ul style="list-style-image:url(../matlabicon.gif)"><li><a href="camera.html" class="code" title="function uv = camera(C, p, Tobj, Tcam)">camera</a> CAMERA Camera imaging model</li></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%GCAMERA graphical camera model</span>0002 <span class="comment">%</span>0003 <span class="comment">% H = GCAMERA(NAME, C, DIMS)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Create a graphical camera with name NAME, pixel dimensions given by</span>0006 <span class="comment">% DIMS = [xmin xmax ymin ymax] for the axes, and calibration matrix C.</span>0007 <span class="comment">%</span>0008 <span class="comment">% Returns H, the handle to the graphical camera.</span>0009 <span class="comment">%</span>0010 <span class="comment">% Once created update the camera's view with</span>0011 <span class="comment">%</span>0012 <span class="comment">% uv = GCAMERA(H, POINTS)</span>0013 <span class="comment">% uv = GCAMERA(H, POINTS, Tobj)</span>0014 <span class="comment">% uv = GCAMERA(H, POINTS, Tobj, Tcam)</span>0015 <span class="comment">%</span>0016 <span class="comment">% where H is the handle previously returned, and POINTS is the data to be</span>0017 <span class="comment">% displayed. POINTS represents the 3D data to be displayed in the camera</span>0018 <span class="comment">% view. If POINTS has 3 columns it is treated as a number of 3D points in</span>0019 <span class="comment">% world coordinates, one point per row. Each point is transformed and displayed</span>0020 <span class="comment">% as a round marker. If POINTS has 6 columns, each row is treated as the start</span>0021 <span class="comment">% and end 3D coordinate for a line segment, in world coordinates. Each end of</span>0022 <span class="comment">% the line is transformed and a line segment displayed.</span>0023 <span class="comment">% The optional arguments, Tobj, represents a transformation that can be applied</span>0024 <span class="comment">% to the object data, POINTS, prior to 'imaging'. Tcam is the pose of the</span>0025 <span class="comment">% camera which defaults to the orign looking along the Z-axis.</span>0026 <span class="comment">%</span>0027 <span class="comment">% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab</span>0028 0029 <span class="comment">% Peter Corke 1996</span>0030 0031 <a name="_sub0" href="#_subfunctions" class="code">function ovar = gcamera(a1, a2, a3, a4)</a>0032 <span class="keyword">if</span> isstr(a1),0033 <span class="comment">% creating a new camera</span>0034 name = a1;0035 name0036 C = a2;0037 <span class="comment">%dimcheck(C, 'calibration matrix', 3, 4);</span>0038 dims = a3;0039 <span class="comment">%dimcheck(dims, 'pixel dimensions', 4);</span>0040 0041 h = findobj(<span class="string">'Name'</span>, name);0042 <span class="keyword">if</span> isempty(h),0043 h = figure;0044 set(h, <span class="string">'Name'</span>, name);0045 set(h, <span class="string">'NextPlot'</span>, <span class="string">'new'</span>);0046 <span class="keyword">else</span>0047 figure(h)0048 clf0049 <span class="keyword">end</span>0050 ovar = axes(<span class="string">'XLim'</span>, dims(1:2), <span class="string">'YLim'</span>, dims(3:4), <span class="keyword">...</span>0051 <span class="string">'UserData'</span>, C, <span class="keyword">...</span>0052 <span class="string">'Xgrid'</span>, <span class="string">'on'</span>, <span class="string">'Ygrid'</span>, <span class="string">'on'</span>, <span class="string">'Ydir'</span> , <span class="string">'reverse'</span>, <span class="string">'NextPlot'</span>, <span class="string">'new'</span>);0053 <span class="comment">%line('LineStyle', 'o', 'Color', 'black');</span>0054 line(<span class="string">'LineStyle'</span>, <span class="string">'none'</span>, <span class="keyword">...</span>0055 <span class="string">'Marker'</span>, <span class="string">'o'</span>, <span class="keyword">...</span>0056 <span class="string">'Color'</span>, <span class="string">'black'</span>, <span class="keyword">...</span>0057 <span class="string">'EraseMode'</span>, <span class="string">'xor'</span>);0058 title(name);0059 <span class="keyword">else</span>0060 h = a1;0061 points = a2;0062 nc = numcols(points);0063 C = get(h, <span class="string">'UserData'</span>);0064 <span class="keyword">switch</span> nargin,0065 <span class="keyword">case</span> 4,0066 Tcam = a4;0067 Tobj = a3;0068 <span class="keyword">case</span> 3,0069 Tobj = a3;0070 Tcam = eye(4);0071 <span class="keyword">otherwise</span>,0072 Tobj = eye(4);0073 Tcam = eye(4);0074 <span class="keyword">end</span>0075 <span class="keyword">if</span> nc == 3,0076 <span class="comment">% draw points</span>0077 uv = <a href="camera.html" class="code" title="function uv = camera(C, p, Tobj, Tcam)">camera</a>(C, points, Tobj, Tcam);0078 ovar = uv;0079 l = get(h, <span class="string">'Children'</span>);0080 set(l, <span class="string">'Xdata'</span>, uv(:,1), <span class="string">'Ydata'</span>, uv(:,2));0081 <span class="keyword">elseif</span> nc == 6,0082 <span class="comment">% draw lines</span>0083 uv_s = <a href="camera.html" class="code" title="function uv = camera(C, p, Tobj, Tcam)">camera</a>(C, points(:,1:3), Tobj, Tcam);0084 uv_f = <a href="camera.html" class="code" title="function uv = camera(C, p, Tobj, Tcam)">camera</a>(C, points(:,4:6), Tobj, Tcam);0085 ovar = [uv_s uv_f];0086 <span class="keyword">for</span> c = get(h, <span class="string">'Children'</span>)',0087 delete(c);0088 <span class="keyword">end</span>0089 line([uv_s(:,1)'; uv_f(:,1)'], <span class="keyword">...</span>0090 [uv_s(:,2)'; uv_f(:,2)'], <span class="keyword">...</span>0091 <span class="string">'EraseMode'</span>, <span class="string">'xor'</span>, <span class="keyword">...</span>0092 <span class="string">'LineStyle'</span>, <span class="string">'-'</span>);0093 <span class="keyword">else</span>0094 error(<span class="string">'Points matrix should be 3 or 6 columns'</span>);0095 <span class="keyword">end</span>0096 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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