#%% configure the different views cam_positions = [] cam_orientations = [] cam_positions.append(-array([0., 0., 0.4, 1]).T) cam_positions.append(-array([0., -0.1, 0.7, 1]).T) cam_positions.append(-array([0., 0.1, 0.7, 1]).T) #%% Project screen points in image cam.set_world_position(-0.05, -0.05, -0.45) cam.rotate_x(deg2rad(+10.)) cam.rotate_y(deg2rad(-5.)) cam.rotate_z(deg2rad(-5.)) cam.set_P() cam_points1 = array(cam.project(s1.get_points())) #%% cam.set_world_position(-0.2, -0.05, -0.4) cam.rotate_y(deg2rad(-20.)) cam.set_P() cam_points2 = array(cam.project(s1.get_points())) #%% cam.set_world_position(0.2, -0.05, -0.5) cam.rotate_y(deg2rad(+40.)) cam.set_P() cam_points3 = array(cam.project(s1.get_points()))
s1.set_pixel_pitch(0.02) red = (1, 0, 0) s1.set_color(red) s1.curvature_radius = 1.800 s1.update() s1.rotate_x(np.deg2rad(-190.)) #s1.rotate_y(deg2rad(-15.)) #%% Project screen points in image # cam.set_world_position(-0.05, -0.05, -0.45) cam.set_t(-0.05, -0.05, -0.45, 'world') cam.rotate_x(np.deg2rad(+10.)) cam.rotate_y(np.deg2rad(-5.)) cam.rotate_z(np.deg2rad(-5.)) cam.set_P() cam_points1 = np.array(cam.project(s1.get_points())) #%% plot # plot projection plt.figure() plt.plot(cam_points1[0], cam_points1[1], '.', color='r') plt.xlim(0, 1280) plt.ylim(0, 960) plt.gca().invert_yaxis() plt.show() #%% Opencv camera calibration
