def positionCamera(point, direction, rotAngle):
"""Highly globally dependent function. Very complicated geometry positioning. Must not be
called before all intrinsic parameters are set."""
perpendicularAxis = direction.cross(defaultVecDir)
angle = math.atan2(perpendicularAxis.norm(), direction*defaultVecDir)
focalVec, vecxx, vecyy = (focVec, imVecX, imVecY) if defaultVecDir.cross(direction) == ZEROVEC \
else rotate_3d(perpendicularAxis, angle, [focVec, imVecX, imVecY])
vecxx, vecyy = rotate_3d(focalVec, rotAngle, [vecxx, vecyy])
vecbx = (focalVec - vecxx).normalize() * widthP
vecby = (focalVec - vecyy).normalize() * heightP
origin = point + focalVec - vecbx * (widthPxl-1) / 2. - vecby * (heightPxl-1) / 2.
return focalVec, vecbx, vecby, origin
def positionCamera(point, direction, rotAngle):
"""Highly globally dependent function. Very complicated geometry positioning. Must not be
called before all intrinsic parameters are set."""
perpendicularAxis = direction.cross(defaultVecDir)
angle = math.atan2(perpendicularAxis.norm(), direction * defaultVecDir)
focalVec, vecxx, vecyy = (focVec, imVecX, imVecY) if defaultVecDir.cross(direction) == ZEROVEC \
else rotate_3d(perpendicularAxis, angle, [focVec, imVecX, imVecY])
vecxx, vecyy = rotate_3d(focalVec, rotAngle, [vecxx, vecyy])
vecbx = (focalVec - vecxx).normalize() * widthP
vecby = (focalVec - vecyy).normalize() * heightP
origin = point + focalVec - vecbx * (widthPxl -
1) / 2. - vecby * (heightPxl - 1) / 2.
return focalVec, vecbx, vecby, origin
heightPxl = origImg.shape[0]
widthChip = 0.0000014 * 2600 * CHIP_MUL
heightChip = 0.0000014 * 1952 * CHIP_MUL
widthC = widthChip * (widthPxl-1) / widthPxl
heightC = heightChip * (heightPxl-1) / heightPxl
widthP = widthChip / widthPxl
heightP = heightChip / heightPxl
# Intrinsic calculations that do not depend on camera position
# Angle between the focal vector and vector that touches the half point of the side
# of the image. Length of the said vector and the vector itself.
angleX = math.atan(widthC/2./focalLength)
angleY = math.atan(heightC/2./focalLength)
lenX = math.sqrt(focalLength*focalLength + widthC*widthC/4.)
lenY = math.sqrt(focalLength*focalLength + heightC*heightC/4.)
imVecX = rotate_3d(perpX, angleX, [defaultVecDir])[0].normalize() * lenX
imVecY = rotate_3d(perpY, angleY, [defaultVecDir])[0].normalize() * lenY
focVec = defaultVecDir * focalLength
# Source camera
rotAngleS = 0
source = Vector(X_OFF, Y_OFF, Z_HEIGHT)
cameraDirS = Vector(-TILT, 0., -1.).normalize()
focVecS, vecbxs, vecbys, originS = positionCamera(source, cameraDirS, rotAngleS)
# plotImVs(ax, source, focVecS*1000, vecbxs*1000, vecbys*1000, widthPxl, heightPxl)
plotL(ax, source, source + focVecS*1000, 'r')
grid = create_grid(widthPxl, heightPxl, vecbxs, vecbys, originS)
# plotG(ax, grid, 'r')
# Drain camera
heightPxl = origImg.shape[0]
widthChip = 0.0000014 * 2600 * CHIP_MUL
heightChip = 0.0000014 * 1952 * CHIP_MUL
widthC = widthChip * (widthPxl - 1) / widthPxl
heightC = heightChip * (heightPxl - 1) / heightPxl
widthP = widthChip / widthPxl
heightP = heightChip / heightPxl
# Intrinsic calculations that do not depend on camera position
# Angle between the focal vector and vector that touches the half point of the side
# of the image. Length of the said vector and the vector itself.
angleX = math.atan(widthC / 2. / focalLength)
angleY = math.atan(heightC / 2. / focalLength)
lenX = math.sqrt(focalLength * focalLength + widthC * widthC / 4.)
lenY = math.sqrt(focalLength * focalLength + heightC * heightC / 4.)
imVecX = rotate_3d(perpX, angleX, [defaultVecDir])[0].normalize() * lenX
imVecY = rotate_3d(perpY, angleY, [defaultVecDir])[0].normalize() * lenY
focVec = defaultVecDir * focalLength
# Source camera
rotAngleS = 0
source = Vector(X_OFF, Y_OFF, Z_HEIGHT)
cameraDirS = Vector(-TILT, 0., -1.).normalize()
focVecS, vecbxs, vecbys, originS = positionCamera(source, cameraDirS,
rotAngleS)
# plotImVs(ax, source, focVecS*1000, vecbxs*1000, vecbys*1000, widthPxl, heightPxl)
plotL(ax, source, source + focVecS * 1000, 'r')
grid = create_grid(widthPxl, heightPxl, vecbxs, vecbys, originS)
# plotG(ax, grid, 'r')
