showLinedLiDARTag.m

%{
 * Copyright (C) 2020-2030, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
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 * 1. Redistributions of source code must retain the above copyright notice, this
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function showLinedLiDARTag(image_hadle, bagfile, LiDARTag, display)
    hold(image_hadle, 'on');
%             axis(app.LiDARTagFig, 'equal');
    scatter3(image_hadle, LiDARTag.pc_points(1,:), LiDARTag.pc_points(2,:), LiDARTag.pc_points(3,:), '.')
    scatter3(image_hadle, LiDARTag.corners(1,:), LiDARTag.corners(2,:), LiDARTag.corners(3,:), 'ro')
    plot3(image_hadle, LiDARTag.four_corners_line(1,:), LiDARTag.four_corners_line(2,:), LiDARTag.four_corners_line(3,:));
    n_vec = [LiDARTag.centroid, LiDARTag.centroid + LiDARTag.normal_vector];
    plot3(image_hadle, n_vec(1, :), n_vec(2, :), n_vec(3, :));
    title(image_hadle, bagfile);
    
    if checkDisplay(display)
        set(get(image_hadle,'parent'),'visible','on');% show the current axes
        view(-49,19)
        axis 'equal'
    end
end