Trab3_Bule.m

clear all
close all
clc

% run('Calibracao.m');
% close all
% clc

cameraParams = open('cameraParams.mat');

%Get the intrinsic matrix
IntriMatrix = cameraParams.cameraParams.IntrinsicMatrix;

cam = webcam;
squareSize = 24; %in mm

[verts, faces, cindex] = teapotGeometry;
verts = verts.*15;
verts = verts*[1 0 0;0 1 0;0 0 -1];
maxi = max( verts(:,3));
verts(:,1) = verts(:,1)+3*24; %posição inicial em x
verts(:,2) = verts(:,2)+1*24; %posição inicial em y
verts(:,3) = verts(:,3)-maxi; %posição inicial em z

while(true)
    % Acquire a single image.
    rgbImage = snapshot(cam);
    rgbImage = undistortImage(rgbImage, cameraParams.cameraParams);
    bwImage = imono(rgbImage);
    
    %imagePoints = icorner(rgbImage);
    [imagePoints,boardSize] = detectCheckerboardPoints(rgbImage);
    worldPoints = generateCheckerboardPoints(boardSize, squareSize);
    
    %Calculate the extrinsic matrix
    [rotationMatrix, translationVector] = extrinsics(imagePoints,worldPoints, cameraParams.cameraParams);
    
    P = cameraMatrix(cameraParams.cameraParams,rotationMatrix,translationVector)';
    
    PontoInicial = [worldPoints(1,1),worldPoints(1,2)];
    
    vertsX = [verts , ones(size(verts,1),1)];
    
    vertsHom = P*vertsX(:,:)';
    
    for i=1:size(vertsHom,2)
        vertsUV(i,1) = vertsHom(1,size(vertsHom,2)-i+1)/vertsHom(3,size(vertsHom,2)-i+1);
        vertsUV(i,2) = vertsHom(2,size(vertsHom,2)-i+1)/vertsHom(3,size(vertsHom,2)-i+1);
    end
    
    
    % Display the image.
    imshow(rgbImage);
    hold on;
    
    patch('Faces',faces,'Vertices',vertsUV,'FaceVertexCData',cindex,'FaceColor','interp','LineStyle', ':')
    
end