30 lines
999 B
Matlab
30 lines
999 B
Matlab
function affichage_3D_melange(points_3D,liste_t,liste_R,couleurs_points,couleurs_cameras)
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% Affichage des caméras :
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taille_camera = 0.5;
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for i = 1:size(liste_t,2)
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t_i = liste_t(:,i);
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R_i = liste_R(:,:,i);
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position = single(t_i'*R_i); % Attention : Matlab a sa propre logique !
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orientation = single(R_i'); % Idem
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absPose = rigid3d(orientation,position);
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if nargin==5
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plotCamera('AbsolutePose',absPose,'Size',taille_camera,...
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'Color',couleurs_cameras(i,:),'Label',num2str(i),'Opacity',0);
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else
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plotCamera('AbsolutePose',absPose,'Size',taille_camera,...
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'Color','b','Label',num2str(i),'Opacity',0);
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end
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hold on;
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end
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grid on;
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axis off;
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% Affichage du nuage de points 3D :
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nuage_points_3D = pointCloud(points_3D,'Color',couleurs_points);
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pcshow(nuage_points_3D,'VerticalAxis','y','VerticalAxisDir','down','MarkerSize',45);
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xlabel('$X$','FontSize',20,'Interpreter','Latex');
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ylabel('$Y$','FontSize',20,'Interpreter','Latex');
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zlabel('$Z$','FontSize',20,'Interpreter','Latex');
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