camera pattern position

camera_pattern_position.m

http://study.marearts.com/2013/10/opencv-246-calibration-example-source.html

clc;
close all;
%clear all;

%ImgPT=load('imagept.txt');
%ObjPT=load('objectpt.txt');
k=load('intrinsic.txt');R=load('rotation.txt');T=load('translation.txt');%S=load('ptSize.txt');

%intrinsic and extrinsic matrix
R = reshape(R,3,length(R)/3);
T = reshape(T,3,length(T)/3);
boardXYZ=[0 0 0 1; 175 0 0 1; 175 200 0 1; 0 200 0 1; 0 0 0 1]';

figure(1);
hold on; xlabel('x'); ylabel('y'); zlabel('z'); grid on; axis equal;


cmap = hsv( length(R) );
for i=1:length(R)
    Convert3D_2{i} = ( [rodrigues(R(:,i)) T(:,i)] * boardXYZ )';
    plot3( Convert3D_2{i}(1:5,1), Convert3D_2{i}(1:5,2), Convert3D_2{i}(1:5,3),'-', 'color', cmap(i,:) );   
    text( Convert3D_2{i}(1,1), Convert3D_2{i}(1,2),Convert3D_2{i}(1,3),num2str(i),'color', cmap(i,:) );
end

%camera draw
camView(5,eye(3), zeros(3,1),[1 0 0],'o');

%draw axis
drawAxis(5);

figure(2)
hold on; xlabel('x'); ylabel('y'); zlabel('z'); grid on; axis equal;
plot3( boardXYZ(1,:), boardXYZ(2,:), boardXYZ(3,:),'-', 'color', cmap(i,:) );   

for i=1:length(R)
    camView(10, rodrigues(R(:,i))', -T(:,i), cmap(i,:),num2str(i));   
end

http://study.marearts.com/2013/10/opencv-246-calibration-example-source.html