Authors: Jeramy Luo ([email protected]) and Haruto Tanaka ([email protected])

This is a repository for implementation of our final course project. For the details explanation on the background and logics/theories, please refer to a report.

• data/ - Contains various data for experimenting ray estimation (Haruto)
• src/ - Source and testing scripts for ray estimation (Haruto)
• uvs_kinvoa/ - Source files for the visual servoing (Jeramy)

Note that there are duplicated files between src and uvs_kinova directory, since we tested both asynchronously. If you found any duplicated files in uvs_kinova, please refer to the src one, which are the recently updated file (e.g. image_utils.py exists both in src/ and uvs_kinova/, but refer to one in src/, please).

Followings are the package versions (within src/):

• python 3.8.3
• pandas 1.0.5
• numpy 1.18.5
• opencv-python 4.5.5.62

Simply run the .py test scripts by invoking

python <file_name>.py

The file names that you can test out are:

• get_focal_len.py: Focal length estimation from images of ruler. It will prompt to select two points on the image along the ruler. Note that two points must have 5 cm interval on the ruler scale by default (you can change this by changing CENTIMETER variable in the file).
• test_intrinsic.py: It shows the sequence of checkerboard images, then computes/saves the intrinsic parameters). Caution: For each checkerboard image, please hit any key on a keyboard to proceed to next image. Once you get to the end, windows will disappear and results will be shown on the command prompt.
• test_proj.py: The script will prompt user to click on the single location where they want to track. Once you clicked on single point and hit q key, it will display the result of back projection method on the test video.
• test_ray.py: The script will prompt user to click on the single location where they want to track. Once you clicked on single point and hit q key, it will display the result of focal length method on the test video.

If you noticed any bugs, please let us know or post an issue for it.