Agallardo-itis

• Project Name: Without project yet

• Authors: Agustín GD (agallard4 [at] gmail [dot] com) and Jose María Cañas Plaza (jmplaza [at] gsyc [dot] es)

• Academic Year: 2010-2011

• Degree: Undergrad

• Jde Version: [1]

• SVN Repository: source code

• Tags: 3D, motion capture

• Technology: c, c++, jde suite, progeo

• State: Developing

• Source License: GPLv3

• Document License: Creative Commons Attribution-Share Alike 3.0 Unported License

• Abstract:

• Develop platform:
  • Jde 5.0
  • Ice

20120110 Calibrator jderobot 5.0

This is the first version of calibrator, this component on jderobot v5 allow you to calibrate two cameras.

20110426 Calibrator jderobot 5.0

K? I don't know what formula use to calibrate a camera..

Write conclusions of http://recyt.fecyt.es/index.php/RIAII/article/view/233/123 on Web and Redo

I have taken the last calibrator version of 'Alejandro Hernández Cordero' and I use it to develop intrinsics calibration

update_camera_matrix I don't know how it works.

What does mean skew? comment on code pixels¿?¿?

20110312 Extrensics & Rectifier on jderobot 5.0

• Extrinsics:

I have changed the world file for a file on xml format. For this I have used the xml library xerces, that is a collection of software libraries for parsing, validating, serializing and manipulating XML. Xerces is a library that is made available under the Apache Software License. This library support DOM, SAX, and SAX2 APIs. I had to choose between the different APIs. DOM: It is OK when it is neccesary access repeatedly to a document. SAX is faster than DOM but it is strictly sequential and one-pass I decide to use DOM, because the xml file it is not a big file and DOM allow us more flexibility.

I have started to implement a class that is initialized with a path of an xml file, then a class method receives a buffer an return the same buffer with the figures of the xml file drawn. I stop it because I can not use libxercesc on laboratory.

• Rectifier:

Rectifier now works fine there was an error on code. The maths that I use on this component are:

<math>

 \begin{bmatrix}
   x' \\
   y'\\
   z'
 \end{bmatrix}

=

 \begin{bmatrix}
   h_{1,1} & h_{1,2} & h_{1,3} \\
   h_{2,1} & h_{2,2} & h_{2,3} \\
   h_{3,1} & h_{3,2} & h_{3,3}
 \end{bmatrix}
 \begin{bmatrix}
   x \\
   y\\
   z
 \end{bmatrix}

=>

\begin{align} & x' = h_{1,1}x+h_{1,2}y+h_{1,3}z \\ & y' = h_{2,1}x+h_{2,2}y+h_{2,3}z \\ & z' = h_{3,1}x+h_{3,2}y+h_{3,3}z \\ \end{align}

</math>

Div by h_{3,3} for get 8.

We suppose Z = 1 because we only work with two dimensions.

For the pinhole model x = x'/z'

<math>

\begin{align} & x = x'/z' = (h_{1,1}x+h_{1,2}y+h_{1,3})/(h_{3,1}x+h_{3,2}y+1) => h_{1,1}x+h_{1,2}y+h_{1,3} - h_{3,1}xx+h_{3,2}yx+x=0\\ & y = y'/z' = (h_{2,1}x+h_{2,2}y+h_{2,3})/(h_{3,1}x+h_{3,2}y+1) => h_{2,1}x+h_{2,2}y+h_{2,3} - h_{3,1}xy+h_{3,2}yy+y=0\\ \end{align}

</math>

20110114 Extrensics on jderobot 5.0

• Extrinsics:

I have improved the code and I am developing the world with xml format. The video shows the tag version with the previus world format. The component works in the video with a video of a static image.

• Rectifier:

I have developed this component for the 5.0 version but I have a bug that I am looking for how to resolve.