def create_cam_distribution(cam=None,
plane_size=(0.3, 0.3),
theta_params=(0, 360, 10),
phi_params=(0, 70, 5),
r_params=(0.25, 1.0, 4),
plot=False):
if cam == None:
# Create an initial camera on the center of the world
cam = Camera()
f = 800
cam.set_K(fx=f, fy=f, cx=320, cy=240) #Camera Matrix
cam.img_width = 320 * 2
cam.img_height = 240 * 2
# we create a default plane with 4 points with a side lenght of w (meters)
plane = Plane(origin=np.array([0, 0, 0]),
normal=np.array([0, 0, 1]),
size=plane_size,
n=(2, 2))
#We extend the size of this plane to account for the deviation from a uniform pattern
#plane.size = (plane.size[0] + deviation, plane.size[1] + deviation)
d_space = np.linspace(r_params[0], r_params[1], r_params[2])
t_list = []
for d in d_space:
xx, yy, zz = uniform_sphere(theta_params, phi_params, d, False)
sphere_points = np.array(
[xx.ravel(), yy.ravel(), zz.ravel()], dtype=np.float32)
t_list.append(sphere_points)
t_space = np.hstack(t_list)
cams = []
for t in t_space.T:
cam = cam.clone()
cam.set_t(-t[0], -t[1], -t[2])
cam.set_R_mat(R_matrix_from_euler_t(0.0, 0, 0))
cam.look_at([0, 0, 0])
plane.set_origin(np.array([0, 0, 0]))
plane.uniform()
objectPoints = plane.get_points()
imagePoints = cam.project(objectPoints)
#if plot:
# cam.plot_image(imagePoints)
if ((imagePoints[0, :] < cam.img_width) &
(imagePoints[0, :] > 0)).all():
if ((imagePoints[1, :] < cam.img_height) &
(imagePoints[1, :] > 0)).all():
cams.append(cam)
if plot:
planes = []
plane.uniform()
planes.append(plane)
plot3D(cams, planes)
return cams
def getCondNum_camPoseInRealWord(x_w, y_w, grid_reso, width, height):
"""
Compute the condition number of camera position in real world coordinate
:param x_w: camera potion in real world coordinate
:param y_w: camera potion in real world coordinate
:param width: gird 60
:param height: grid 30
:return:
"""
# width = int(grid_width/ grid_reso)
# height = int(grid_height/ grid_reso)
T_WM = getMarkerTransformationMatrix(width, height, grid_reso)
pos_world_homo = np.array([x_w, y_w, 0, 1])
pos_marker = np.dot(T_WM, pos_world_homo)
## CREATE A SIMULATED CAMERA
cam = Camera()
cam.set_K(fx=800, fy=800, cx=640 / 2., cy=480 / 2.)
cam.set_width_heigth(640, 480)
cam.set_t(pos_marker[0], pos_marker[1], pos_marker[2], 'world')
cam.set_R_mat(Rt_matrix_from_euler_t.R_matrix_from_euler_t(0.0, 0, 0))
cam.look_at([0, 0, 0])
radius = np.sqrt(pos_marker[0]**2 + pos_marker[1]**2 + pos_marker[2]**2)
angle = np.rad2deg(np.arccos(pos_marker[1] / radius))
cam.set_radius(radius)
cam.set_angle(angle)
objectPoints = np.copy(new_objectPoints)
imagePoints = np.array(cam.project(objectPoints, False))
condNum = np.inf # undetected region set as 0
if ((imagePoints[0, :] < cam.img_width) & (imagePoints[0, :] > 0) &
(imagePoints[1, :] < cam.img_height) & (imagePoints[1, :] > 0)).all():
input_list = gd.extract_objectpoints_vars(objectPoints)
input_list.append(np.array(cam.K))
input_list.append(np.array(cam.R))
input_list.append(cam.t[0, 3])
input_list.append(cam.t[1, 3])
input_list.append(cam.t[2, 3])
input_list.append(cam.radius)
# TODO normalize points!!! set normalize as default True
condNum = gd.matrix_condition_number_autograd(*input_list,
normalize=True)
return condNum
def getT_MC_and_Rt_errors(T_WM, pos_world, Rmat_error_loop, tvec_error_loop):
pos_world_homo = np.array([pos_world[0], pos_world[1], 0, 1])
pos_marker = np.dot(T_WM, pos_world_homo)
# print "pos_marker\n", pos_marker
# Create an initial camera on the center of the world
cam = Camera()
f = 800
cam.set_K(fx=f, fy=f, cx=320, cy=240) # Camera Matrix
cam.img_width = 320 * 2
cam.img_height = 240 * 2
cam = cam.clone()
cam.set_t(pos_marker[0], pos_marker[1], pos_marker[2], 'world')
cam.set_R_mat(Rt_matrix_from_euler_t.R_matrix_from_euler_t(0.0, 0, 0))
# print "cam.R\n",cam.R
cam.look_at([0, 0, 0])
# print "cam.Rt after look at\n",cam.R
objectPoints = np.copy(new_objectPoints)
imagePoints = np.array(cam.project(objectPoints, False))
new_imagePoints = np.copy(imagePoints)
# -----------------------------------------------------------------
new_imagePoints_noisy = cam.addnoise_imagePoints(new_imagePoints,
mean=0,
sd=4)
# print "new_imagePoints_noisy\n",new_imagePoints_noisy
debug = False
# TODO cv2.SOLVEPNP_DLS, cv2.SOLVEPNP_EPNP, cv2.SOLVEPNP_ITERATIVE
pnp_tvec, pnp_rmat = pose_pnp(new_objectPoints, new_imagePoints_noisy,
cam.K, debug, cv2.SOLVEPNP_ITERATIVE, False)
# Calculate errors
Cam_clone_cv2 = cam.clone_withPose(pnp_tvec, pnp_rmat)
tvec_error, Rmat_error = ef.calc_estimated_pose_error(
cam.get_tvec(), cam.R, Cam_clone_cv2.get_tvec(), pnp_rmat)
Rmat_error_loop.append(Rmat_error)
tvec_error_loop.append(tvec_error)
# print "cam.get_world_position()\n",cam.get_world_position()
t = np.eye(4)
t[:3, 3] = pnp_tvec[:3]
T_MC = np.dot(t, pnp_rmat)
return T_MC
cam.set_width_heigth(640, 480)
## DEFINE CAMERA POSE LOOKING STRAIGTH DOWN INTO THE PLANE MODEL
cam.set_R_axisAngle(1.0, 0.0, 0.0, np.deg2rad(180.0))
cam.set_t(0.0, -0.0, 0.5, frame='world')
#cam.set_R_axisAngle(1.0, 0.0, 0.0, np.deg2rad(140.0))
#cam.set_t(0.0,-1,1.0, frame='world')
#
r = 0.8
angle = 30
x = r * np.cos(np.deg2rad(angle))
z = r * np.sin(np.deg2rad(angle))
cam.set_t(0, x, z)
cam.set_R_mat(R_matrix_from_euler_t(0.0, 0, 0))
cam.look_at([0, 0, 0])
#cam.set_R_axisAngle(1.0, 0.0, 0.0, np.deg2rad(110.0))
#cam.set_t(0.0,-0.3,0.1, frame='world')
new_objectPoints = pl.get_points()
#GOOD SET OF POINTS FOR THE GRAPHIC
#new_objectPoints = np.array([[ 0.075, -0.06, 0.06, -0.06 ],
# [ 0.105, 0.105, 0.105, 0.09 ],
# [ 0., 0., 0., 0., ],
# [ 1., 1., 1., 1., ]])
new_objectPoints = np.array([[0.12, 0.06, -0.105, 0.105],
[0.015, -0.12, -0.09, -0.09], [
0.,
0.,
