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https://github.com/LooseEthics/pm.git
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opencv test
This commit is contained in:
LooseEthics
111
Profilometer.cpp
111
Profilometer.cpp
@ -41,11 +41,17 @@ public:
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// 0 < sigma < pi/2
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double dist;
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// distance between camera and laser
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double phi, theta;
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// coordinate angles
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void fastinit(int h, int w, double a, double b, double s, double d, double p, double t) {
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//TODO: overload this
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double tan_alpha;
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double tan_beta;
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double* tan_phi_arr;
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double* tan_theta_arr;
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double sin_sigma;
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double cos_sigma;
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double p_h;
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void fastinit(int h, int w, double a, double b, double s, double d) {
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// class variable initializer
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height = h;
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width = w;
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@ -53,8 +59,26 @@ public:
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beta = b;
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sigma = s;
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dist = d;
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phi = p;
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theta = t;
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trig_precalc();
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}
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void trig_precalc() {
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tan_alpha = tan(alpha);
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tan_beta = tan(beta);
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tan_phi_arr = (double*)malloc(sizeof(double) * height);
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for (int i = 0; i < height; i++) {
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//tan_phi_arr[i] = tan_alpha / height * (2 * i + 1 - height);
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tan_phi_arr[i] = tan_alpha / height * (2 * i - height);
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}
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tan_theta_arr = (double*)malloc(sizeof(double) * width);
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for (int i = 0; i < width; i++) {
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//tan_theta_arr[i] = -tan_beta / width * (2 * i - 1 - width);
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tan_theta_arr[i] = -tan_beta / width * (2 * i - width);
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}
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sin_sigma = sin(sigma);
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cos_sigma = cos(sigma);
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p_h = 2 * dist / height * tan_alpha / sin_sigma;
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}
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void print_conf() {
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@ -64,15 +88,15 @@ public:
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std::cout << "Beta: " << beta << "\n";
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std::cout << "Sigma: " << sigma << "\n";
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std::cout << "Dist: " << dist << "\n";
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std::cout << "Phi: " << phi << "\n";
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std::cout << "Theta: " << theta << "\n";
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//std::cout << "Phi: " << phi << "\n";
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//std::cout << "Theta: " << theta << "\n";
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}
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double get_phi(int y) {
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// phi is angle below camera center line of given y coordinate - above center is negative
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// returns phi at pixel center, removing the +1 shifts this to low edge
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// alpha >= phi >= -alpha
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phi = atan(tan(alpha)/height * (2 * y + 1 - height));
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double phi = atan(tan_phi_arr[y]);
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return phi;
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}
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@ -81,40 +105,57 @@ public:
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// returns theta at pixel center, removing the -1 shifts this to low edge
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// beta >= theta >= -beta
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// if viewed from above, positive theta means pixel vector is to the left of center, i.e. x < width/2
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theta = atan(tan(beta) / width * (width - 2 * x - 1));
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double theta = atan(tan_theta_arr[x]);
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return theta;
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}
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double pixel_delta_approx() {
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double sin_sp(int y) {
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// sin( sigma + phi)
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return sin_sigma + cos_sigma * tan_phi_arr[y] / sqrt(1 + tan_phi_arr[y]);
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}
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double cos_sp(int y) {
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// cos( sigma + phi)
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return cos_sigma + sin_sigma * tan_phi_arr[y] / sqrt(1 + tan_phi_arr[y]);
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}
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double pixel_delta_approx(int y) {
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// returns approximation of change in elevation from y to y+1
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// assumes that epsilon=0
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double delta = 2 * dist * tan(alpha) * cos(phi) / (height * sin(sigma + phi) * sin(sigma + phi));
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//double delta = 2 * dist * tan(alpha) * cos(phi) / (height * sin(sigma + phi) * sin(sigma + phi));
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double delta = p_h * sin_sigma / (sin_sigma + cos_sigma * tan_phi_arr[y]);
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return delta;
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}
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double pixel_delta_exact() {
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double pixel_delta_exact(int y) {
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// returns exact change in elevation from y to y+1
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double tan_eps = 2 * tan(alpha) * cos(phi) * cos(phi) / (height + 2 * tan(alpha) * sin(phi) * cos(phi));
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std::cout << "Tan(eps) at phi=" << phi << ": " << tan_eps << "\n";
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double delta = 2 * dist * tan(alpha) * cos(phi) * (cos(phi) - sin(phi) * tan_eps) / (height * sin(sigma + phi) * (sin(sigma + phi) + cos(sigma + phi) * tan_eps));
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//double tan_eps = 2 * tan(alpha) * cos(phi) * cos(phi) / (height + 2 * tan(alpha) * sin(phi) * cos(phi));
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double tan_phi = tan_phi_arr[y];
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double tan_eps = 2 * tan_alpha / (height * (1 + tan_phi * tan_phi) + 2 * tan_alpha * tan_phi);
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std::cout << "Tan(eps) at phi=" << get_phi(y) << ": " << tan_eps << "\n";
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//double delta = 2 * dist * tan(alpha) * cos(phi) * (cos(phi) - sin(phi) * tan_eps) / (height * sin(sigma + phi) * (sin(sigma + phi) + cos(sigma + phi) * tan_eps));
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//double delta = dist * tan_eps / (sin_sp(y) * (sin_sp(y) + tan_eps * cos_sp(y)));
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double delta = 2 * dist * tan_alpha * (1 - tan_phi_arr[y] * tan_eps) / (height * sin_sp(y) * (sin_sp(y) + cos_sp(y) * tan_eps));
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return delta;
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}
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double get_elevation() {
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double get_elevation(int y) {
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// elevation above horizontal camera plane
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// singularity if phi = -sigma
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// flat projection surface -> x coordinate irrelevant
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double e = dist / tan(phi + sigma);
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//double e = dist / tan(phi + sigma);
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double e = dist * cos_sp(y) / sin_sp(y);
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return e;
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}
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double get_horizontal_dist() {
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double get_horizontal_dist(int x, int y) {
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// get horizontal distance from center line, same sign convention as theta
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// generally depends on both x and y
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double f = dist * tan(theta) / sin(sigma + phi);
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//double f = dist * tan(theta) / sin(sigma + phi);
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double f = dist * tan_theta_arr[x] / sin_sp(y);
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return f;
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}
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/*
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void approx_test_phi(double new_phi) {
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// print exact and approximate delta and the error at given phi
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// changes phi
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@ -126,7 +167,18 @@ public:
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std::cout << "Error absolute: " << (de - da) << "\n";
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std::cout << "Error relative: " << (de - da)/de << "\n";
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}
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*/
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void approx_test(int y) {
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double da = pixel_delta_approx(y);
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std::cout << "Delta approx.: " << da << "\n";
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double de = pixel_delta_exact(y);
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std::cout << "Delta exact: " << de << "\n";
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std::cout << "Error absolute: " << (de - da) << "\n";
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std::cout << "Error relative: " << (de - da) / de << "\n";
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}
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/*
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void edge_test() {
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// run approx_test_phi at bottom edge, phi=0, and top edge
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// preserves phi
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@ -139,14 +191,25 @@ public:
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approx_test_phi(-1*alpha);
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phi = old_phi;
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}
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*/
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void edge_test() {
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// run approx_test_phi at y = {0, height/2, height-1}
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std::cout << "\ny = h - 1\n";
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approx_test(height - 1);
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std::cout << "\ny = h/2\n";
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approx_test(height/2);
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std::cout << "\ny = 0\n";
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approx_test(0);
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}
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};
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int main()
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{
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PMeter PM;
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PM.fastinit(1000, 1000, M_PI / 6, M_PI / 6, M_PI / 3, 5.0, 0.0, 0.0);
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// fastinit(int h, int w, double a, double b, double s, double d)
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PM.fastinit(3120, 4208, M_PI / 180 * 21.5, M_PI / 180 * 43, M_PI / 180 * 51, 0.05);
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PM.print_conf();
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137
opencv test.cpp
Normal file
137
opencv test.cpp
Normal file
@ -0,0 +1,137 @@
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// opencv test.cpp : This file contains the 'main' function. Program execution begins and ends there.
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//
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#include <opencv2/imgcodecs.hpp>
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#include <opencv2/highgui.hpp>
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#include <opencv2/imgproc.hpp>
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#include <iostream>
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using namespace cv;
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using namespace std;
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int main_img()
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{
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string path = "Resources/test.png";
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Mat img = imread(path);
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imshow("Image", img);
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waitKey(0);
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return 0;
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}
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int main_vid() {
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string path = "Resources/vid.mp4";
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VideoCapture cap(path);
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Mat img;
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while (true){
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cap.read(img);
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imshow("Image", img);
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waitKey(10);
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}
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return 0;
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}
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int main_cam() {
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VideoCapture cap(0);
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Mat img;
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while (true) {
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cap.read(img);
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imshow("Image", img);
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waitKey(10);
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}
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return 0;
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}
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int main() {
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string path = "Resources/PM_test_1.png";
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Mat img = imread(path);
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int optimize = 0;
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int tag = 1;
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// Brightest array setup
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int *maxrow_arr = (int *)malloc(sizeof(int) * img.cols);
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for (int i = 0; i < img.cols; i++) {
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maxrow_arr[i] = -1;
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}
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if (optimize) {
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//float thrcols[1] = { 0.5 };
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float thrcols[3] = { 0.25, 0.5, 0.75 };
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float thrscale = 0.7;
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int thrsum = 0;
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int thrcnt = 0;
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// Bruteforce threshold columns
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// Get brightness threshold
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for (float ratio : thrcols) {
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int maxrow = 0;
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int maxbr = 0;
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int i = (int)(ratio * img.cols);
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for (int j = 0; j < img.rows; j++) {
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Vec3b& px = img.at<Vec3b>(j, i);
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if (px[0] + px[1] + px[2] > maxbr) {
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maxbr = px[0] + px[1] + px[2];
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maxrow = j;
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}
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}
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maxrow_arr[i] = maxrow;
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thrsum += maxbr;
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thrcnt += 1;
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if (tag) {
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Vec3b& px = img.at<Vec3b>(maxrow, i);
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px.val[0] = 0;
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px.val[1] = 0;
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px.val[2] = 255;
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}
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}
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// Optimization constants
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int thr = (int)(thrscale * thrsum / thrcnt);
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int voffset = 8;
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int hoffset = 8;
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// Left pass
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for (int i = (int)(0.5*img.cols - 1); i >= 0; i--) {
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int maxrow = 0;
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int maxbr = 0;
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//// TODO
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}
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// Right pass
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//// TODO
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}
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else {
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for (int i = 0; i < img.cols; i++) {
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int maxrow = 0;
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int maxbr = 0;
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for (int j = 0; j < img.rows; j++) {
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Vec3b& px = img.at<Vec3b>(j, i);
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if (px[0] + px[1] + px[2] > maxbr) {
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maxbr = px[0] + px[1] + px[2];
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maxrow = j;
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}
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}
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maxrow_arr[i] = maxrow;
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if (tag) {
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Vec3b& px = img.at<Vec3b>(maxrow, i);
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px.val[0] = 0;
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px.val[1] = 0;
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px.val[2] = 255;
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}
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}
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}
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for (int i = 0; i < img.cols; i++) {
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cout << maxrow_arr[i] << ", ";
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}
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imshow("Image", img);
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waitKey(0);
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return 0;
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}
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@ -7,10 +7,13 @@ import numpy as np
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# phi is angle between camera center vector and target pixel vector
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# d is distance between laser plane and camera
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# h is vertical pixel count
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alpha = pi/6
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sigma = pi/3
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d = 5
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h = 1000
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alpha = pi/180*21.5
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sigma = pi/180*51
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r = 0.05
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d = r*tan(sigma)*.65
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#d = r
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h = 3120
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phi_r = atan(d/r)-sigma
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def get_phi(y, h, alpha):
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# get phi of pixel row y
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@ -30,16 +33,27 @@ def crunch(alpha, sigma, phi, d, h):
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def nprint(phi_text, phi):
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nums = crunch(alpha, sigma, phi, d, h)
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print(phi_text)
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print(f"Phi: {phi}")
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print(f"Delta approx.: {nums['da']}")
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print(f"Tan(eps): {nums['te']}")
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print(f"Delta exact: {nums['de']}")
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print(f"Error (absolute): {nums['ea']}")
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print(f"Error (relative): {nums['er']}")
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print(f"Height: {d/tan(sigma+phi)}")
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print("")
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print(f"alpha is {alpha} ({alpha/pi} pi)")
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print(f"sigma is {sigma} ({sigma/pi} pi)")
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print(f"d at r={r} is {d}")
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nprint('Maximal phi', alpha)
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nprint('Zero phi', 0)
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nprint('phi_r', phi_r)
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nprint('Minimal phi', -alpha)
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nprint('y=h/2', get_phi(h/2, h, alpha))
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#for i in range(0,10):
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# nprint(f'phi = {i}/10*alpha', i/10*alpha)
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print(f"phi at y = 50 is {get_phi(50, h, alpha)}")
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