Changeset 673

Timestamp:

02/17/10 21:55:37 (2 years ago)

Author:

mosttw

Message:

Preliminary presentation and ground plane rectification script

Location:

branches/2010-image-rec

Files:

• docs/Makefile (modified) (2 diffs)
• docs/presentation.ppt (added)
• proj3d.py (modified) (5 diffs)
• rectifyground.py (added)

branches/2010-image-rec/docs/Makefile

@@ -5 +5 @@
 project-plan.pdf: figures/cam-000080-hsv-sobel-h.png figures/hist-test.tex figures/pygments-declarations.tex
 
-all: lit-review.pdf project-plan.pdf
+all: lit-review.pdf project-plan.pdf report
 
 %.pdf: %.tex
@@ -14 +14 @@
         rm -f $*.aux $*.bbl $*.blg $*.brf $*.log $*.out $*.tex~
 
+## Figures
 
+REPORT_FIGURES := \
+        figures/ground-lab_undistorted.png \
+        figures/ground-lab-calib_undistorted.png \
+        figures/ground-lab_rectified.png \
+        figures/ground-lab-calib_rectified.png
+
+report: $(REPORT_FIGURES)
+
+%_undistorted.png: %.jpg
+        ../undistort.py $<
+%_rectified.png: %.jpg
+        ../rectifyground.py $<

branches/2010-image-rec/proj3d.py

@@ -108 +108 @@
         [   0.0,        0.0,        1.0    ],
 ])
-#camera_intrinsic = np.array([
-#       [2200, 0, 2592 / 2],
-#       [0, 2200, 1936 / 2],
-#       [0, 0, 1],
-#])
 
 ## Extrinsic camera parameters
@@ -131 +126 @@
 ground_box += camera_target
 
-points = np.array([
+rectangle = np.array([
         [0,  10,  25, 1],
         [0,  10, -25, 1],
@@ -138 +133 @@
         [0,  10,  25, 1],
 ])
-points[:,0:3] = np.dot(points[:,0:3], rot_y(1.5))
-points += np.array([50, 0, 50 * 2.54, 0])
+rectangle[:,0:3] = np.dot(rectangle[:,0:3], rot_y(1.5))
+rectangle += np.array([50, 0, 50 * 2.54, 0])
 
-camera_rotation = rot_y(np.arctan2(camera_target[2], camera_location[0]))
+up_rect = np.array([
+        [ 20, 50,  25 + 100, 1],
+        [ 20, 50, -25 + 100, 1],
+        [-20, 50, -25 + 100, 1],
+        [-20, 50,  25 + 100, 1],
+        [ 20, 50,  25 + 100, 1],
+])
+
+camera_rotation = rot_y(np.arctan2(camera_location[0], camera_target[2]))
 
 # External camera matrix --- transforms the camera to be at (0, 0, 0)
@@ -147 +150 @@
 camera_external[:, :3] = camera_rotation
 camera_external[:, 3] = np.dot(-camera_rotation, camera_location[0:3])
+P = np.dot(camera_intrinsic, camera_external)
 
+## 3D Plot
 ax3d = plot_scene_3d(camera_location, camera_target, camera_rotation, camera_external)
 
@@ -158 +163 @@
 
 # Plot objects in the scene in original and transformed positions
-points_max = plot_polygon_3d(ax3d, points, camera_external, 'blue', 'red')
+rectangle_max  = plot_polygon_3d(ax3d, rectangle,  camera_external, 'blue', 'red')
 ground_box_max = plot_polygon_3d(ax3d, ground_box, camera_external, 'blue', 'red')
+up_rect_max    = plot_polygon_3d(ax3d, up_rect,    camera_external, 'blue', 'red')
 
 set_axes_3d(ax3d, max(
-        points_max, ground_box_max,
+        rectangle_max, ground_box_max,
         np.max(camera_location),
         np.max(camera_target)
 ))
 
-P = np.dot(camera_intrinsic, camera_external)
-points_2d = np.dot(P, points.T).T
-homogenize(points_2d)
-ground_box_2d = np.dot(P, ground_box.T).T
-homogenize(ground_box_2d)
+
+## 2D Plot
+def plot_2d(P, points):
+        points_2d = np.dot(P, points.T).T
+        homogenize(points_2d)
+        pyplot.plot(points_2d[:,1], points_2d[:,0])
 
 figure = pyplot.figure()
-pyplot.plot(points_2d[:,1], points_2d[:,0])
-pyplot.plot(ground_box_2d[:,1], ground_box_2d[:,0])
+plot_2d(P, rectangle)
+plot_2d(P, ground_box)
+plot_2d(P, up_rect)
 pyplot.axis((0, 2592, 0, 1936))
 pyplot.xlabel('x')