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flying camera view changes

release/4.3a0
lvzhaoyang 2015-01-21 16:18:03 -05:00
parent 5cde63acd2
commit 2627f9a9cd
3 changed files with 11 additions and 8 deletions
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15
matlab/+gtsam/plotFlyingResults.m
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@ -19,10 +19,7 @@ end
figID = 1; figID = 1;
figure(figID); figure(figID);
axis equal view([30, 0]);
axis([0, options.fieldSize.x, 0, options.fieldSize.y, 0, 20]);
view(3);
sampleDensity = 120; sampleDensity = 120;
cylinderNum = length(cylinders); cylinderNum = length(cylinders);
@ -34,7 +31,7 @@ for i = 1:cylinderNum
Z = Z * cylinders{i}.height; Z = Z * cylinders{i}.height;
h_cylinder = surf(X,Y,Z); h_cylinder = surf(X,Y,Z);
set(h_cylinder, 'FaceAlpha', 0.5); set(h_cylinder, 'FaceColor', [0 0 0.5], 'FaceAlpha', 0.2, 'EdgeColor', [0 0 1]);
hold on hold on
end end
@ -98,6 +95,9 @@ for i = 1:posesSize
end end
end end
axis equal
axis([0, options.fieldSize.x, 0, options.fieldSize.y, 0, 20]);
drawnow; drawnow;
if options.writeVideo if options.writeVideo
@ -114,6 +114,11 @@ end
% wait for two seconds % wait for two seconds
pause(2); pause(2);
% change views
for i = 0 : 0.5 : 60
view([i + 30, i]);
end
%% plot point covariance %% plot point covariance

2
matlab/+gtsam/points2DTrackMonocular.m
View File

@ -103,7 +103,5 @@ end
%plot3DPoints(initialEstimate, [], marginals); %plot3DPoints(initialEstimate, [], marginals);
%plot3DTrajectory(initialEstimate, '*', 1, 8, marginals); %plot3DTrajectory(initialEstimate, '*', 1, 8, marginals);
view(3);
end end

2
matlab/gtsam_examples/CameraFlyingExample.m
View File

@ -138,7 +138,7 @@ KMono = Cal3_S2(525,525,0,320,240);
cameraPoses = cell(options.poseNum, 1); cameraPoses = cell(options.poseNum, 1);
theta = 0; theta = 0;
for i = 1:options.poseNum for i = 1:options.poseNum
t = Point3([(i-1)*(options.fieldSize.x - 20)/options.poseNum + 20, ... t = Point3([(i-1)*(options.fieldSize.x - 10)/options.poseNum + 10, ...
15, 10]'); 15, 10]');
camera = SimpleCamera.Lookat(t, ... camera = SimpleCamera.Lookat(t, ...
Point3(options.fieldSize.x/2, options.fieldSize.y/2, 0), ... Point3(options.fieldSize.x/2, options.fieldSize.y/2, 0), ...