Show point release number in startup banner.

Author: petercorke

@Camera/Camera.m

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+%Camera.plot_camera Display camera icon in world view
+%
+% C.plot_camera(OPTIONS) draw a camera as a simple 3D model in the current
+% figure.
+%
+% Options::
+% 'Tcam',T     Camera displayed in pose T (homogeneous transformation 4x4)
+% 'scale',S    Overall scale factor (default 0.2 x maximum axis dimension)
+%
+% Notes::
+% - The graphic handles are stored within the Camera object.
+
+function h = plot_camera(c, varargin)
+
+    opt.Tcam = c.T;
+    opt.scale = [];
+    opt.square = false;  %??
+
+    [opt,arglist] = tb_optparse(opt, varargin);
+
+    if isempty(opt.scale)
+        % get the overall scale factor from the existing graph
+        sz = [get(gca, 'Xlim'); get(gca, 'Ylim'); get(gca, 'Zlim')];
+        sz = max(sz(:,2)-sz(:,1));
+        opt.scale = sz / 5;
+    end
+    
+    if 1
+        c.h_camera3D = c.drawCamera(opt.scale, arglist{:});
+
+        set(c.h_camera3D, 'Matrix', opt.Tcam);
+
+    else
+        % old representation as a colored pyramid
+        % define pyramid dimensions from the size parameter
+        w = opt.scale;
+        l = w*2;
+        
+        % define the vertices of the camera
+        vertices = [
+             0 w/2 -w/2  -w/2  w/2
+             0 w/2  w/2  -w/2 -w/2
+             0 l    l     l    l ];
+
+        ud.vertices = vertices;
+
+        % create the camera 
+        vertices = homtrans(T, vertices);
+
+        % the first index for each face controls the face color
+        faces = [
+            1 2 5 NaN
+            2 1 3 NaN
+            3 4 1 NaN
+            4 1 5 NaN
+            %5 2 3 4
+            %2 3 4 5
+            ];
+
+        colors = [
+            1 0 0       % R
+            0 1 0       % G
+            1 0 0       % R
+            0 1 0       % G
+            %0 0 1       % B
+            ];
+
+        if ishandle(c.h_visualize)
+            set(c.h_visualize, 'Vertices', vertices');
+            set(c.h_visualize, 'FaceAlpha', 1);
+        else
+            h = patch('Vertices', vertices', ...
+                'Faces', faces, ...
+                'FaceVertexCData', colors, ...
+                'FaceColor','flat', ...
+                'UserData', ud);
+            %set(h, 'FaceAlpha', 0.5);
+            P = transl(T);
+            if opt.label
+                text(P(1), P(2), P(3), c.name);
+            end
+            c.h_visualize = h;  % save handle for later
+        end
+    end
+
+end

@Camera/plot_camera.m

@@ -0,0 +1,75 @@
+%SHOWPOSE Display a camera icon in 3D
+%
+%   h = cam.showpose(T)
+%
+%  Create a new camera at pose T, and return the graphics handle.
+%
+% The camera is depicted as a pyramid with the apex as the camera
+% origin and the base plane normal to the optical axis.
+% The sides are colored red, green, blue corresponding to the X, Y, Z axes
+% respectively.
+
+
+function h = showpose(c, T, sz)
+
+    if nargin < 2
+        T = eye(4,4);
+    end
+    if nargin < 3
+        % get the overall scale factor from the existing graph
+        sz = [get(gca, 'Xlim'); get(gca, 'Ylim'); get(gca, 'Zlim')];
+        sz = max(sz(:,2)-sz(:,1));
+        sz = sz / 20;
+    end
+        
+    % define pyramid dimensions from the size parameter
+    w = sz;
+    l = sz*2;
+    
+    % define the vertices of the camera
+    vertices = [
+         0    0    0
+         w/2  w/2  l
+        -w/2  w/2  l
+        -w/2 -w/2  l
+         w/2 -w/2  l
+        ];
+
+    ud.vertices = vertices;
+
+    % create the camera 
+    vertices = transformp(T, vertices')';
+
+    % the first index for each face controls the face color
+    faces = [
+        1 2 5 NaN
+        2 1 3 NaN
+        3 4 1 NaN
+        4 1 5 NaN
+        5 2 3 4
+        %2 3 4 5
+        ];
+
+    colors = [
+        1 0 0       % R
+        0 1 0       % G
+        1 0 0       % R
+        0 1 0       % G
+        0 0 1       % B
+        ];
+
+    if isempty(c.camview)
+        % create the camera view
+        h = patch('Vertices', vertices, ...
+            'Faces', faces, ...
+            'FaceVertexCData', colors, ...
+            'FaceColor','flat', ...
+            'UserData', ud);
+
+        set(h, 'FaceAlpha', 1.0);
+        c.camview = h;
+        c.camview_sz = sz;
+    else
+        set(c.camview, 'Vertices', vertices);
+    end
+end