-
Notifications
You must be signed in to change notification settings - Fork 1
/
grid_perspective_3.py
219 lines (185 loc) · 6.45 KB
/
grid_perspective_3.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
from scipy.optimize import fmin, fmin_powell, minimize
import PIL
import pylab as pl
import numpy as np
from numpy import cos, sin
DEG = np.pi / 180
H = 1200 ## number of verticla pixels
W = 1600 ## number of horzontal pixels
FocalLength = 1000 ## number of pixels to focal point
def project(points, FocalLength,
X, Y, Z, roll, pitch, yaw):
Roll = np.array([[1, 0, 0],
[0, cos(roll), -sin(roll)],
[0, sin(roll), cos(roll)]])
Pitch = np.array([[cos(pitch), 0, -sin(pitch)],
[0, 1, 0],
[sin(pitch), 0, cos(pitch)]])
Yaw = np.array([[cos(yaw), -sin(yaw), 0],
[sin(yaw), cos(yaw), 0],
[0, 0, 1]])
orient = Yaw @ Pitch @ Roll
s = (orient @ points.T).T + camera_position
doa = FocalLength * s / s[:,2,np.newaxis]
return doa[:,:2]
roll = 36 * DEG
pitch = 0 * DEG
yaw = 0 * DEG
Roll = np.array([[1, 0, 0],
[0, cos(roll), -sin(roll)],
[0, sin(roll), cos(roll)]])
Pitch = np.array([[cos(pitch), 0, -sin(pitch)],
[0, 1, 0],
[sin(pitch), 0, cos(pitch)]])
Yaw = np.array([[cos(yaw), -sin(yaw), 0],
[sin(yaw), cos(yaw), 0],
[0, 0, 1]])
orient = Yaw @ Pitch @ Roll
SIDE = 1000
square = np.column_stack([[-1, -1, 1, 1],
[-1, 1, 1, -1],
[0, 0, 0, 0]]) * SIDE/2
fig, ax = pl.subplots(1, figsize=(W/200, H/200))
photo = np.array(PIL.Image.open('img/OpeningPosition.jpeg'))
ax.imshow(photo, extent=(-W/2, W/2, -H/2, H/2), origin='upper')
positions = {'a1':np.array((-636, -374)),
'a8':np.array([-376.38139061,320.14850568]),
'h8':np.array([311.20660502, 317.08544763]),
'h1':np.array([532, -363]),
'a6': np.array([-426.45396426,188.16996774]),
'h6':np.array([354.62282089, 185.72452119]),
'h7':np.array([331.53872035, 255.56821376]),
'd1':np.array([-132, -374]),
'b7':np.array([-294.6754694,257.97434045]),
'e5':np.array([23, 106])
}
X, Y, Z = -300, 500, 8200
X, Y, Z = 0, 500, 8200
camera_position = [X, Y, Z]
objects = []
raw_squares = []
offset_x = 3.5 * SIDE
offset_y = 3.5 * SIDE
def get_row_col(alg):
row = ord(alg[0]) - ord('a')
col = int(alg[1]) - 1
return row, col
def get_color(alg):
row, col = get_row_col(alg)
return (row + col) % 2
def get_center(alg):
row, col = get_row_col(alg)
return np.array([row * SIDE - offset_x, col * SIDE - offset_y, 0])
#for i in np.arange(-3.5, 4.5, 1):
# for j in np.arange(-3.5, 4.5, 1):
for row in 'abcdefgh':
for col in range(1, 9):
alg = f'{row}{col}'
color = get_color(alg)
r = get_center(alg)
raw_squares.append(r)
s = (square + r)
p = project(s, FocalLength,
X, Y, Z, roll, pitch, yaw)
if alg == 'a1':
objects.append((ax.fill(p[:,0], p[:,1], alpha=.3, color='k')[0], color))
elif color:
objects.append((ax.fill(p[:,0], p[:,1], alpha=.3, color='r')[0], color))
else:
objects.append((ax.fill(p[:,0], p[:,1], alpha=.3, color='w')[0], color))
for row in 'ah':
for col in [1, 8]:
alg = f'{row}{col}'
r = get_center(alg)
p = project(r[np.newaxis], FocalLength,
X, Y, Z, roll, pitch, yaw)[0]
#pl.plot(p[0], p[1], 'wd')
def getSquarePos3D(alg):
x
def on_update(*args, **kw):
Roll = np.array([[1, 0, 0],
[0, cos(roll), -sin(roll)],
[0, sin(roll), cos(roll)]])
Pitch = np.array([[cos(pitch), 0, -sin(pitch)],
[0, 1, 0],
[sin(pitch), 0, cos(pitch)]])
Yaw = np.array([[cos(yaw), -sin(yaw), 0],
[sin(yaw), cos(yaw), 0],
[0, 0, 1]])
orient = Yaw @ Pitch @ Roll
for r, (o, color) in zip(raw_squares, objects):
s = square + r
p = project(s, FocalLength, X, Y, Z, roll, pitch, yaw)
o.set_xy(p)
pl.axis('equal')
methods = ['Nelder-Mead',
'Powell',
'CG',
'BFGS',
'L-BFGS-B',
'TNC',
'COBYLA',
'SLSQP',
]
def onclick(event):
global FocalLength, X, Y, Z, roll, pitch, yaw
def minme(params, args, plot=False):
print(params)
if len(params) > 0:
FocalLength = params[0]
if len(params) > 3:
X, Y, Z = params[1:4]
if len(params) > 6:
roll, pitch, yaw = params[4:7]
else:
roll, pitch, yaw = args
err = 0
for alg in positions:
pixel_center = positions[alg]
center = get_center(alg)
projected_center = project(center[np.newaxis], FocalLength, X, Y, Z, roll, pitch, yaw)
err += np.linalg.norm(projected_center - pixel_center)
#err += prior_w @ (params - prior) ** 2
if plot:
print(alg, pixel_center, projected_center)
pl.plot(projected_center[0,0], projected_center[0,1], 'gd')
pl.plot(pixel_center[0], pixel_center[1], 'rd')
return err
for method in methods:
guess= [FocalLength, X, Y, Z, roll, pitch, yaw ]
guess = [FocalLength, X, Y, Z]
args = [roll, pitch, yaw]
ans = minimize(minme, guess ,method=method, args=args)['x']
print(method, minme(ans, args, plot=True))
fig.canvas.draw_idle()
print(ans)
break
on_update()
fig.canvas.draw_idle()
return
if False:
print('%s click: button=%d, x=%d, y=%d, xdata=%f, ydata=%f' %
('double' if event.dblclick else 'single', event.button,
event.x, event.y, event.xdata, event.ydata))
if event.button == 1:
dir = 1
else:
dir = -1
x, y = event.xdata, event.ydata
if x > 0 and y > 0:
print('roll')
roll += dir * DEG
if x > 0 and y < 0:
print('pitch')
pitch += dir * DEG
if x < 0 and y > 0:
print('yaw')
yaw += dir * DEG
if x < 0 and y < 0:
Z += 100 * dir
camera_position[2] = Z
print(np.round(roll / DEG), np.round(pitch / DEG), np.round(yaw / DEG), Z)
cid = fig.canvas.mpl_connect('button_press_event', onclick)
pl.show()
### fit params
# FocalLength, X, Y, Z, roll, pitch, yaw