Update atrium dims and cam matrices in py

Author: bredfeldt

BlimpDetect.py

@@ -54,11 +54,11 @@ def connect(ip,port):
 def triang_3D(col_1, row_1, col_2, row_2) :
 
         #Corrected camera matrix for west side
-        P1 = np.array([[408.4918, -1607.7562, 3814.1879, 490234.8756], [-1793.2995, -707.4668, -45.8775, 646489.5760], [0.1810, -0.9505, -0.2524, 1285.5524]])
-
+        #P1 = np.array([[408.4918, -1607.7562, 3814.1879, 490234.8756], [-1793.2995, -707.4668, -45.8775, 646489.5760], [0.1810, -0.9505, -0.2524, 1285.5524]])
+        P1 = np.array([[-2.1, 0.0, -3.64, 55432.5], [0.0, 4.2, 0.0, -18186.0], [0.866, 0.0, -0.5, 7620.0]])
         #Corrected camera matrix for east side
-        P2 = np.array([[-49.3179, -518.1547, -4126.6037, 847220.0489], [-1776.8193, 738.4249, -127.1965, 963513.3797], [0.2075, 0.9387, -0.2753, 1589.9759]])
-
+        #P2 = np.array([[-49.3179, -518.1547, -4126.6037, 847220.0489], [-1776.8193, 738.4249, -127.1965, 963513.3797], [0.2075, 0.9387, -0.2753, 1589.9759]])
+        P2 = np.array([[2.1, 0.0, -3.64, -34048.4],[0.0, -4.2, 0.0, 18186.0],[-0.866, 0.0, -0.5, 44521.3]])
         #blimp position from camera 1
         #col_1 = 396
         #row_1 = 424
@@ -67,6 +67,12 @@ def triang_3D(col_1, row_1, col_2, row_2) :
         #col_2 = 518
         #row_2 = 538
 
+        #Convert pixel numbers to mm, 0, 0 is the center of the image, 
+        col_1 = (col_1-640)*0.0035
+        col_2 = (col_2-640)*0.0035
+        row_1 = (row_1-360)*0.00475
+        row_2 = (row_2-360)*0.00475
+
 
         #translated from matlab:
 
@@ -276,7 +282,7 @@ def procImg(img,sideName,dispFlag):
 #Live images from the IP cameras
 #(if not live, then this file needs to be in folder with a bunch of images)
 #(if live, then need to be local at WID)
-liveIP = 0
+liveIP = 1
 if liveIP == 0:
         #need to be in directory with a bunch of images
         dirList = os.listdir(os.getcwd())

matlab/CameraCalibrationExp.m

@@ -18,9 +18,9 @@
 
 %Atrium dimensions
 %39624 mm in x direction
-ax = 39624;
+ax = 42610;
 %10947 mm in y direction
-ay = 10947;
+ay = 8660;
 %15240 mm in z direction
 az = 15240;
 
@@ -90,7 +90,7 @@
 %--Tests--
 
 %3D point, middle of the atrium floor:
-x1 = [ax/1.5; ay/3; 6000; 1];
+x1 = [ax/1.7; ay/3; 6000; 1];
 %x1 = [C2; 1];
 
 %Project these points onto the camera image planes
@@ -169,7 +169,7 @@
 zlabel('(z, mm)');
 axis equal;
 
-na = 0.01;
+na = 0.0;
 %now triangulate to find the 3d location again, using the camera matrices
 M = triangulateJYB(P1,[c1x+na*randn c1y+na*randn],P2,[c2x+na*randn c2y+na*randn]);
 plot3(M(1),M(2),M(3),'ro');