def drawSingleImage(self, modelPoints, scale, ax, rays='no', ):
"""
draws the rays to the modelpoints from the perspective center of the two images
:param modelPoints: points in the model system [ model units]
:param scale: scale of image frame
:param ax: axes of the plot
:param rays: rays from perspective center to model points
:type modelPoints: np.array nx3
:type scale: float
:type ax: plot axes
:type rays: 'yes' or 'no'
:return: none
"""
pixel_size = 0.0000024 # [m]
# images coordinate systems
pv.drawOrientation(self.RotationMatrix, self.PerspectiveCenter, 1, ax)
# images frames
pv.drawImageFrame(self.camera.sensorSize / 1000 * scale, self.camera.sensorSize / 1000 * scale,
self.RotationMatrix, self.PerspectiveCenter, self.camera.focalLength / 1000, 1, ax)
if rays == 'yes':
# draw rays from perspective center to model points
pv.drawRays(modelPoints, self.PerspectiveCenter, ax)
def LoadProfilePoints(self, fname):
if fname == None or fname == '':
fname = os.path.join(self.profilerootpath, self.DirSub(index),
self.profile.profilename + ".txt")
if os.path.exists(fname):
self.profilepoints = []
with open(fname) as f:
for line in f:
words = line.split()
roi_0 = int(words[1][:-1])
roi_1 = int(words[2][:-1])
roi_2 = int(words[3][:-1])
roi_3 = int(words[4])
self.profilepoints.append(
PhotoViewer.ProfilePoint(roi_0, roi_2, roi_1, roi_3))
#x = roi_0 + int((roi_1 - roi_0 + 1)/2)
#y = roi_2 + int((roi_3 - roi_2 + 1)/2)
#centerpoint.append((x,y))
return True
return False
def drawImagePair(self, modelPoints, ax):
"""
draws the rays to the modelpoints from the perspective center of the two images
:param modelPoints: points in the model system [ model units]
:param ax: axes of the plot
:type modelPoints: np.array nx3
:type ax: plot axes
:return: none
"""
pixel_size = 0.0000024 # [m]
# images coordinate systems
pv.drawOrientation(self.RotationMatrix_Image1,
self.PerspectiveCenter_Image1, 1, ax)
pv.drawOrientation(self.RotationMatrix_Image2,
self.PerspectiveCenter_Image2, 1, ax)
# images frames
pv.drawImageFrame((self.__image1.camera.principalPoint[0] * 2),
self.__image1.camera.principalPoint[1] * 2,
self.RotationMatrix_Image1,
self.PerspectiveCenter_Image1,
self.__image1.camera.focalLength, 0.1, ax)
pv.drawImageFrame(self.__image2.camera.principalPoint[0] * 2,
self.__image2.camera.principalPoint[1] * 2,
self.RotationMatrix_Image2,
self.PerspectiveCenter_Image2,
self.__image2.camera.focalLength, 0.1, ax)
# draw rays from perspective centers to model points
pv.drawRays(modelPoints, self.PerspectiveCenter_Image1, ax)
pv.drawRays(modelPoints, self.PerspectiveCenter_Image2, ax)
def drawImagePair(self, ImagePair, modelPoints, fig2, ax2):
"""
Drawing 3D output of given imgPair
:param ImagePair: ImagePair object
:param modelPoints: Points In Model
:type ImagePair: np.array nx2
:type modelPoints: np.array nx2
:return: fig,axis
"""
fig = fig2
# ax = fig.add_subplot(111, projection='3d')
ax = ax2
pix_size = 2.4e-3
photo.drawOrientation(self.RotationMatrix_Image1,\
np.reshape(self.PerspectiveCenter_Image1,\
(self.PerspectiveCenter_Image1.size, 1)),\
3,ax)
photo.drawOrientation(self.RotationMatrix_Image2,\
np.reshape(self.PerspectiveCenter_Image2,\
(self.PerspectiveCenter_Image2.size, 1)),\
3, ax)
photo.drawImageFrame(5472 * pix_size, 3648 * pix_size, self.RotationMatrix_Image1,\
np.reshape(self.PerspectiveCenter_Image1,\
(self.PerspectiveCenter_Image1.size, 1)),\
4248.06 * pix_size, 0.8, ax)
photo.drawImageFrame(5472 * pix_size, 3648 * pix_size, self.RotationMatrix_Image2,\
np.reshape(self.PerspectiveCenter_Image2,\
(self.PerspectiveCenter_Image2.size, 1)),\
4248.06 * pix_size, 0.8, ax)
photo.drawRays(modelPoints*100,\
np.reshape(self.PerspectiveCenter_Image1,\
(self.PerspectiveCenter_Image1.size, 1)), ax)
photo.drawRays(modelPoints*100,\
np.reshape(self.PerspectiveCenter_Image2,\
(self.PerspectiveCenter_Image2.size, 1)), ax)
modelPoints = modelPoints*100
for i in range(0, modelPoints.shape[0]-2, 1):
ax.plot([modelPoints[i, 0], modelPoints[i + 1, 0]], \
[modelPoints[i, 1], modelPoints[i + 1, 1]], \
[modelPoints[i, 2], modelPoints[i + 1, 2]], color='blue')
# Delete in case of diffrent object than this lab
ax.plot([modelPoints[0, 0], modelPoints[8, 0]], \
[modelPoints[0, 1], modelPoints[8, 1]], \
[modelPoints[0, 2], modelPoints[8, 2]], color='blue')
ax.plot([modelPoints[3, 0], modelPoints[6, 0]], \
[modelPoints[3, 1], modelPoints[6, 1]], \
[modelPoints[3, 2], modelPoints[6, 2]], color='blue')
ax.plot([modelPoints[2, 0], modelPoints[7, 0]], \
[modelPoints[2, 1], modelPoints[7, 1]], \
[modelPoints[2, 2], modelPoints[7, 2]], color='blue')
ax.view_init(20, 80)
return fig, ax
# pv.DrawCube(obj.CreateCube(10),ax) import Camera # ======= from Camera import Camera from SingleImage import SingleImage # B fig = plt.figure() ax = fig.add_subplot(111, projection='3d') # create synthetic data cube = obj.CreateCube(6) pv.DrawCube(cube, ax) # define camera focal_length = 35 sensor_size = 25 camera1 = Camera(focal_length, np.array([0, 0]), None, None, None, sensor_size) # define image omega = 0 phi = 0 kappa = 0 Z = 50 img1 = SingleImage(camera1) img1.exteriorOrientationParameters = np.array([[0, 0, Z, omega, phi, kappa]])
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1920, 1080)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.horizontalLayoutWidget = QtWidgets.QWidget(self.centralwidget)
self.horizontalLayoutWidget.setGeometry(QtCore.QRect(0, 0, 1921, 51))
self.horizontalLayoutWidget.setObjectName("horizontalLayoutWidget")
self.horizontalLayout = QtWidgets.QHBoxLayout(
self.horizontalLayoutWidget)
self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
self.clear_button = QtWidgets.QPushButton(self.horizontalLayoutWidget)
self.clear_button.setObjectName("clear_button")
self.horizontalLayout.addWidget(self.clear_button)
self.mask_button = QtWidgets.QPushButton(self.horizontalLayoutWidget)
self.mask_button.setObjectName("mask_button")
self.horizontalLayout.addWidget(self.mask_button)
self.reload_button = QtWidgets.QPushButton(self.horizontalLayoutWidget)
self.reload_button.setObjectName("reload_button")
self.horizontalLayout.addWidget(self.reload_button)
self.clear_button.setDisabled(True)
self.mask_button.setDisabled(True)
self.reload_button.setDisabled(True)
self.drop_label = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.drop_label.setObjectName("drop_label")
self.horizontalLayout.addWidget(self.drop_label)
self.dropout_combo = QtWidgets.QComboBox(self.horizontalLayoutWidget)
self.dropout_combo.setObjectName("dropout_combo")
self.horizontalLayout.addWidget(self.dropout_combo)
self.crop_label = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.crop_label.setObjectName("crop_label")
self.horizontalLayout.addWidget(self.crop_label)
self.crop_combo = QtWidgets.QComboBox(self.horizontalLayoutWidget)
self.crop_combo.setObjectName("crop_combo")
self.horizontalLayout.addWidget(self.crop_combo)
self.iter_label = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.iter_label.setObjectName("iter_label")
self.horizontalLayout.addWidget(self.iter_label)
self.iter_combo = QtWidgets.QComboBox(self.horizontalLayoutWidget)
self.iter_combo.setObjectName("iter_combo")
self.horizontalLayout.addWidget(self.iter_combo)
self.main_label = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.main_label.setObjectName("main_label")
self.horizontalLayout.addWidget(self.main_label)
self.label = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.label.setObjectName("label")
self.horizontalLayout.addWidget(self.label)
self.legend_viewer = PhotoViewer.PhotoViewer(self.centralwidget)
self.legend_viewer.setObjectName("legend_viewer")
self.horizontalLayout.addWidget(self.legend_viewer)
self.label_2 = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.label_2.setObjectName("label_2")
self.horizontalLayout.addWidget(self.label_2)
spacerItem = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.viewer = PhotoViewer.PhotoViewer(self.centralwidget)
self.viewer.setGeometry(QtCore.QRect(0, 50, 1941, 981))
self.viewer.setObjectName("viewer")
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 1920, 22))
self.menubar.setObjectName("menubar")
self.menuFile = QtWidgets.QMenu(self.menubar)
self.menuFile.setObjectName("menuFile")
MainWindow.setMenuBar(self.menubar)
self.actionOpen = QtWidgets.QAction(MainWindow)
self.actionOpen.setObjectName("actionOpen")
# self.actionSavePNG = QtWidgets.QAction(MainWindow)
# self.actionSavePNG.setObjectName("actionSavePNG")
self.actionQuit = QtWidgets.QAction(MainWindow)
self.actionQuit.setObjectName("actionQuit")
self.menuFile.addAction(self.actionOpen)
self.menuFile.addSeparator()
self.menuFile.addAction(self.actionQuit)
self.menubar.addAction(self.menuFile.menuAction())
# self.menuFile.addAction(self.actionSavePNG)
# self.menuFile.addSeparator()
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
print('camera Points=', '\n', camera_points)
# draw
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
scale = 100
img1.drawSingleImage(calibration_field, scale, ax, 'yes')
ax.scatter(calibration_field[:, 0],
calibration_field[:, 1],
calibration_field[:, 2],
c='g',
s=50,
marker='*')
plt.figure()
pv.drawImageFrame2D(img1.camera.sensorSize, img1.camera.sensorSize)
plt.scatter(camera_points[:, 0], camera_points[:, 1])
# Part B
# calibration
# Approximate values
f = 35 # [mm]
xp2 = 0 # in camera space [mm]
yp2 = 0 # in camera space [mm]
k1 = 0.
k2 = 0.
X0 = 0
Y0 = 0
Z0 = 0
omega2 = np.radians(90)
phi2 = 0
def drawImagePair(self, modelPoints, ax):
"""
Drawing the model images plane, perspective centers and ray intersection
:param modelPoints: the points that were computed in the model system
:type modelPoints: np.array nx3
:return: None (plotting)
"""
pv.drawOrientation(
self.RotationMatrix_Image1,
np.reshape(self.PerspectiveCenter_Image1,
(self.PerspectiveCenter_Image1.size, 1)), 100, ax)
pv.drawOrientation(
self.RotationMatrix_Image2,
np.reshape(self.PerspectiveCenter_Image2,
(self.PerspectiveCenter_Image2.size, 1)), 100, ax)
pv.drawImageFrame(
5472 * 2.4e-3, 3648 * 2.4e-3, self.RotationMatrix_Image1,
np.reshape(self.PerspectiveCenter_Image1,
(self.PerspectiveCenter_Image1.size, 1)),
4248.06 * 2.4e-3, 100, ax)
pv.drawImageFrame(
5472 * 2.4e-3, 3648 * 2.4e-3, self.RotationMatrix_Image2,
np.reshape(self.PerspectiveCenter_Image2,
(self.PerspectiveCenter_Image2.size, 1)),
4248.06 * 2.4e-3, 100, ax)
pv.drawRays(
modelPoints * 1000,
np.reshape(self.PerspectiveCenter_Image1,
(self.PerspectiveCenter_Image1.size, 1)), ax, 'gray')
pv.drawRays(
modelPoints * 1000,
np.reshape(self.PerspectiveCenter_Image2,
(self.PerspectiveCenter_Image2.size, 1)), ax, 'gray')
def drawImageTriple(self, modelPoints, ax):
"""
Drawing the model images plane, perspective centers and ray intersection
:param modelPoints: the points that were computed in the model system
:param ax: the ax
:type modelPoints: np.array nx3
:return: None (plotting)
"""
pv.drawOrientation(self.__R1,
np.reshape(self.__o1 * 1000, (self.__o1.size, 1)),
500, ax)
pv.drawOrientation(self.__R2,
np.reshape(self.__o2 * 1000, (self.__o2.size, 1)),
500, ax)
pv.drawOrientation(self.__R3,
np.reshape(self.__o3 * 1000, (self.__o3.size, 1)),
500, ax)
pv.drawImageFrame(5472 * 2.4e-3, 3648 * 2.4e-3, self.__R1,
np.reshape(self.__o1 * 1000, (self.__o1.size, 1)),
4248.06 * 2.4e-3, 100, ax)
pv.drawImageFrame(5472 * 2.4e-3, 3648 * 2.4e-3, self.__R2,
np.reshape(self.__o2 * 1000, (self.__o2.size, 1)),
4248.06 * 2.4e-3, 100, ax)
pv.drawImageFrame(5472 * 2.4e-3, 3648 * 2.4e-3, self.__R3,
np.reshape(self.__o3 * 1000, (self.__o3.size, 1)),
4248.06 * 2.4e-3, 100, ax)
pv.drawRays(modelPoints * 1000,
np.reshape(self.__o1 * 1000, (self.__o1.size, 1)), ax,
'gray')
pv.drawRays(modelPoints * 1000,
np.reshape(self.__o2 * 1000, (self.__o2.size, 1)), ax,
'gray')
pv.drawRays(modelPoints * 1000,
np.reshape(self.__o3 * 1000, (self.__o3.size, 1)), ax,
'gray')