results of 2 plots seem to be overlapping each other
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i have generated a virtual 3D cube. after that i am asked to capture an image of that virtual cube in at 4 meters distance and 30 degree tilted. i am able to do that too. but in both cases 2 plots of 2 images are supposed to be generated. but the result of the second plotting seems to be overlapping the previous plotting image. if i give a 'break' command in between these 2 code then i can see the previous plot again. but if i delete the break command then i can only see the 2nd plot. please let me know how to solve this.
%question 6(3)(a)
%generating a virtual 3D cube
%%Generating 3D calibration pattern:
%%Pw holds 32 points on two surfaces (Xw = 1 and Yw = 1) of a cube
%%Values are measured in meters.
%%There are 4x4 uniformly distributed points on each surface.
cnt = 1;
%%plane : Xw = 1
Pw = zeros(4,3);%preallocating Pw
for i=0.2:0.2:0.8,
for j=0.2:0.2:0.8,
Pw(cnt,:) = [1 i j];
cnt = cnt + 1;
end
end
%%plane : Yw = 1
for i=0.2:0.2:0.8,
for j=0.2:0.2:0.8,
Pw(cnt,:) = [i 1 j];
cnt = cnt + 1;
end
end
N = cnt;
%%plot3(Pw(:,1), Pw(:,2), Pw(:,3), '+');
%%Virtual camera model
%%Extrinsic parameters : R = RaRbRr
gamma = 40.0*pi/180.0;
Rr = [ [cos(gamma) -sin(gamma) 0];
[sin(gamma) cos(gamma) 0];
[ 0 0 1]; ];
beta = 0.0*pi/180.0;
Rb = [ [cos(beta) 0 -sin(beta)];
[0 1 0];
[sin(beta) 0 cos(beta)]; ];
alpha = -120.0*pi/180.0;
Ra = [ [1 0 0];
[0 cos(alpha) -sin(alpha)];
[0 sin(alpha) cos(alpha)]; ];
R = Ra*Rb*Rr;
T = [0 0 4]';
%%Intrinsic parameters
fa = 0.016;
Ox = 256;
Oy = 256;
Sx = 0.0088/512.0;
Sy = 0.0066/512.0;
Fx = fa/Sx;
Fy = fa/Sy;
%%asr is the aspect ratio
asr = Fx/Fy;
%%Generate Image coordinates
%%surface Xw = 1
cnt = 1;
Pc = zeros(16,3);
n=length([(Ox - Fx*Pc(cnt,1)/Pc(cnt,3)) (Oy - Fy*Pc(cnt,2)/Pc(cnt,3))]);
p=zeros(16,n);
for cnt = 1:1:16,
Pc(cnt,:) = (R*Pw(cnt,:)' + T)';
p(cnt,:) = [(Ox - Fx*Pc(cnt,1)/Pc(cnt,3)) (Oy - Fy*Pc(cnt,2)/Pc(cnt,3))];
end
plot(p(:,1), p(:,2), 'r+');
axis([0 512 0 512]);
grid;
hold;
%%surface Yw = 1
for cnt = 17:1:32,
Pc(cnt,:) = (R*Pw(cnt,:)' + T)';
p(cnt,:) = [(Ox - Fx*Pc(cnt,1)/Pc(cnt,3)) (Oy - Fy*Pc(cnt,2)/Pc(cnt,3))];
end
plot(p(17:32,1), p(17:32,2), 'g+');
%%plot3(Pc(:,1), Pc(:,2), Pc(:,3), '+');
grid;
%3D point generated from the 3D virtual cube
xvals = Pc(:,1);
yvals = Pc(:,2);
zvals = Pc(:,3);
%..6.3.b
cnt1 = 1;
%%plane : Xw = 1
Pw1 = zeros(4,3);%preallocating Pw
for i=0.2:0.2:0.8,
for j=0.2:0.2:0.8,
Pw1(cnt1,:) = [1 i j];
cnt1 = cnt1 + 1;
end
end
%%plane : Yw = 1
for i=0.2:0.2:0.8,
for j=0.2:0.2:0.8,
Pw1(cnt1,:) = [i 1 j];
cnt1 = cnt1 + 1;
end
end
N1 = cnt1;
%%plot3(Pw(:,1), Pw(:,2), Pw(:,3), '+');
%%Virtual camera model
%%Extrinsic parameters : in a certain pose where R = 30 degree and T is 4 meters
Rb1 = 30.0*pi/180.0;
Tb = [0 0 4]';
%%Intrinsic parameters
fb = 0.016;
Ox = 256;
Oy = 256;
Sx = 0.0088/512.0;
Sy = 0.0066/512.0;
Fxb = fb/Sx;
Fyb = fb/Sy;
%%asr is the aspect ratio
asrb = Fxb/Fyb;
%%Generate Image coordinates
%%surface Xw = 1
cnt1 = 1;
Pc1 = zeros(16,3);
n1=length([(Ox - Fxb*Pc1(cnt1,1)/Pc1(cnt1,3)) (Oy - Fyb*Pc1(cnt1,2)/Pc1(cnt1,3))]);
p1=zeros(16,n1);
for cnt = 1:1:16,
Pc1(cnt,:) = (Rb1*Pw1(cnt1,:)' + Tb)';
p1(cnt,:) = [(Ox - Fxb*Pc1(cnt1,1)/Pc1(cnt1,3)) (Oy - Fyb*Pc1(cnt1,2)/Pc1(cnt1,3))];
end
plot(p1(:,1), p1(:,2), 'r+');
axis([0 512 0 512]);
grid;
hold;
%%surface Yw = 1
for cnt1 = 17:1:32,
Pc1(cnt1,:) = (Rb*Pw1(cnt1,:)' + Tb)';
p1(cnt1,:) = [(Ox - Fxb*Pc1(cnt1,1)/Pc1(cnt1,3)) (Oy - Fyb*Pc1(cnt1,2)/Pc1(cnt1,3))];
end
plot(p1(17:32,1), p1(17:32,2), 'g+');
%%plot3(Pc1(:,1), Pc(:,2), Pc(:,3), '+');
grid;
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