38 lines
1.1 KiB
Mathematica
38 lines
1.1 KiB
Mathematica
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function affichage_nuage(masque,K,z,I)
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% Dimensions du masque :
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[nb_lignes,nb_colonnes] = size(masque);
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nb_pixels = nb_lignes*nb_colonnes;
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% Indices des pixels du masque :
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ind_masque = transpose(find(masque>0));
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[i_masque,j_masque] = ind2sub(size(masque),ind_masque);
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% Passage du repère pixels au repère image :
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u_masque = j_masque;
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v_masque = i_masque;
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p_tilde = [ u_masque ; v_masque ; ones(1,length(ind_masque)) ];
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w = inv(K)*p_tilde;
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% Lissage médian de la fonction de profondeur :
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z_image = zeros(nb_pixels,1);
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z_image(ind_masque) = z;
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z_image = reshape(z_image,nb_lignes,nb_colonnes);
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z_image_lissee = medfilt2(z_image,[3 3]);
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z_lissee = z_image_lissee(ind_masque);
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z_lissee = z_lissee(:);
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% Calcul des points 3D :
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Q = NaN*ones(nb_pixels,3);
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Q(ind_masque,:) = w'.*repmat(z_lissee,1,3);
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Q = reshape(Q,[nb_lignes nb_colonnes 3]);
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% Affichage des points 3D coloriés par l'image de référence :
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couleurs_3D = reshape(uint8(255*I),[nb_pixels,3]);
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nuage_points_3D = pointCloud(reshape(Q,[nb_pixels,3]),'Color',couleurs_3D);
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pcshow(nuage_points_3D,'VerticalAxis','y','VerticalAxisDir','down','MarkerSize',45);
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axis equal;
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axis off;
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rotate3d;
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zoom(1.6);
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