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Updated copyright for all M-files to use single-line format. Reformatted some help text that was longer than 80 columns.
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‎toolbox/@Camera/Camera.m

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%
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% See also CentralCamera, SphericalCamera, FishEyeCamera, CatadiptricCamera.
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% Copyright (C) 1995-2009, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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% TODO:
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% make a parent imaging class and subclass perspective, fisheye, panocam

‎toolbox/@Camera/plot_camera.m

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function h = plot_camera(c, varargin)
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%Camera.plot_camera Display camera icon in world view
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%
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% C.plot_camera(OPTIONS) draw a camera as a simple 3D model in the current
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% - A line between the red faces is parallel to the x-axis, between the
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% green faces is parallel to the y-axis.
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function h = plot_camera(c, varargin)
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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opt.pose = c.T;
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opt.scale = [];

‎toolbox/@CentralCamera/..@Camera/showpose.m

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% The sides are colored red, green, blue corresponding to the X, Y, Z axes
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% respectively.
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function h = showpose(c, T, sz)
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‎toolbox/@CentralCamera/CentralCamera.m

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%
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% See also Camera.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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%TODO
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% method to undo lens distortion

‎toolbox/@CentralCamera/estpose.m

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% Int. Journal on Computer Vision,
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% vol. 81, pp. 155-166, Feb. 2009.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function T = estpose(c, XYZ, uv)
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‎toolbox/@CentralCamera/flowfield.m

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%
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% See also QUIVER.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function flowfield(cam, vel)
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a = 50:100:1000;

‎toolbox/@CentralCamera/private/getrotT.m

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function [R, T]=getrotT(wpts,cpts);
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% This routine solves the exterior orientation problem for a point cloud
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%getrotT This routine solves the exterior orientation problem for a point cloud
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% given in both camera and world coordinates.
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% wpts = 3D points in arbitrary reference frame
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% cpts = 3D points in camera reference frame
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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n=size(wpts,1);
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M=zeros(3);

‎toolbox/@CentralCamera/private/invhomog.m

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%
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% See also HOMOGRAPHY.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function solutions = invhomog(H, varargin)
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‎toolbox/@CentralCamera/visjac_e.m

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%
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% See also CentralCamera.visjac_p, CentralCamera.visjac_p_polar, CentralCamera.visjac_l.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function L = visjac_e(cam, A, plane)
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‎toolbox/@CentralCamera/visjac_l.m

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%
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% See also CentralCamera.visjac_p, CentralCamera.visjac_p_polar, CentralCamera.visjac_e.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function L = visjac_l(cam, f, plane)
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‎toolbox/@CentralCamera/visjac_p.m

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%
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% See also CentralCamera.visjac_p_polar, CentralCamera.visjac_l, CentralCamera.visjac_e.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function L = visjac_p(cam, uv, Z)
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‎toolbox/@CentralCamera/visjac_p_polar.m

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%
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% See also CentralCamera.visjac_p, CentralCamera.visjac_l, CentralCamera.visjac_e.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function J = visjac_p_polar(cam, rt, Z)
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‎toolbox/@SphericalCamera/SphericalCamera.m

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%
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% See also Camera.
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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classdef SphericalCamera < Camera
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‎toolbox/@SphericalCamera/plot_camera.m

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% TODO
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% - proper animation, keep handles within the camera object
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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function plot_camera(cam, varargin)
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‎toolbox/@SphericalCamera/scamera.m

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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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classdef scamera
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properties
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name

‎toolbox/@SphericalCamera/showpose.m

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% Copyright 2022-2023 Peter Corke, Witold Jachimczyk, Remo Pillat
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% Copyright (C) 1993-2017, by Peter I. Corke
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%
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% This file is part of The Machine Vision Toolbox for Matlab (MVTB).
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%
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% MVTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% MVTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with MVTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function showcam(c, T, P)
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if nargin < 2

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