68 lines
1.9 KiB
Python
68 lines
1.9 KiB
Python
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import numpy as np
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import numpy.typing as npt
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from matplotlib import pyplot as plt
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import cv2
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import uz_framework.image as uz_image
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import uz_framework.text as uz_text
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import os
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##############################################
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# EXCERCISE 1: Exercise 1: Image derivatives #
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##############################################
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def ex1():
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one_b()
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def one_a() -> None:
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"""
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d = (f * px)/pz + f(T - px)/pz => d = (f * T) / pz
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"""
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def one_b() -> None:
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"""
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Write a script that computes the disparity for a range of values of pz. Plot the values
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to a figure and set the appropriate units to axes. Use the following parameters of
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the system: focal length is f = 2.5mm and stereo system baseline is T = 12cm
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"""
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pz_values = np.arange(0.001, 0.1, 0.001)
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f = 0.0025
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T = 0.12
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d = (f * T) / pz_values
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plt.plot(pz_values, d)
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plt.xlabel('pz [m]')
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plt.ylabel('d [m]')
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plt.title('Disparity for a range of values of pz')
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plt.show()
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def one_c() -> None:
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"""
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In order to get a better grasp on the idea of distance and disparity, you will calculate
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the numbers for a specific case. We will take the parameters from a specification of
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a commercial stereo camera Bumblebee2 manufactured by the company PointGray:
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f = 2.5mm, T = 12cm, whose image sensor has a resolution of 648×488 pixels that
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are square and the width of a pixel is 7.4µm. We assume that there is no empty
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space between pixels and that both cameras are completely parallel and equal. Lets
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say that we use this system to observe a (point) object that is detected at pixel 550
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in x axis in the left camera and at the pixel 300 in the right camera. How far is the
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object (in meters) in this case? How far is the object if the object is detected at
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pixel 540 in the right camera? Solve this task analytically and bring your solution
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to the presentation of the exercise.
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"""
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# ######## #
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# SOLUTION #
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# ######## #
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def main():
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ex1()
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#ex2()
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#ex3()
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if __name__ == '__main__':
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main()
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