Multi Camera Positioning System based on Convolution Net

Importance Class

• camera.h handle serialize and store camera len distortion
• ConvNet.h CNN stuff , prefix par_ mean that it's used in parallel processing
• cammat store calibration configuration
• obeam object frustum

Importance Function in main.cpp

• calibrateCamera() calibrate len distortion
• cm_223() convert ( 2D point + Camera Info ) -> 3D point
• cm_322() convert 3D point - project on z=0 plane -> 2D point
• cm_plot_its_obeam() plot intersect 2 obeams
• cm_plot_obeam() plot obeams
• cm_plot_tdp() plot 3D point
• computerIntersect() compute intersect
• count_white() count white pixels
• cross2d() mathematic function
• cvt2bw() convert cv:Mat to black-white image
• cvt2clr() convert cv:Mat to color
• distance() perform euler distance
• do_bgsub() background subtract << ***
• do_bgsub_edge() filter apply before do bgsub
• do_bgsub_gabor() filter apply before do bgsub
• do_bgsub_hsv() filter apply before do bgsub
• do_conv() find convolution
• do_dilate() normal dilate
• do_erode() normal erode
• do_get_cammat() find cammat
• do_kmean_corner() find corner by kmean
• do_pyramid() resize image to multi size
• do_rotate() roate image
• do_sortCorners() sort corner CW order
• do_validate_corners() check corners
• draw_triangle() draw triangle
• find_moving_obj() find moving object
• getConfigPath() return configuration path
• getTrainingSetPath() return training set path
• load_cifar10() load training set
• load_cifar100() load training set
• load_cifar100_label() load training label
• load_cifar10_label() load training label
• load_testimage() load test image
• pl_draw_mark() draw center calibration mark
• pl_get_bk() draw background
• printMat() print Matrix
• readMat() read Matrix
• read_file_binary()
• renderCube()
• selfcalib()
• selfcalib_dummy() find calibration mark << ***
• sortCorners()
• str_concat()
• task1() used for beagle bone communication << ***
• unDist()
• writeMat()
• write_file_binary()

In Progress

Done

• init code from opencv sample ( opencv + qt + opengl )
• multi-camera calibrate & configure
• cifar training set cifar100
• port subset of ConvNetJS into c++ version

TODO

• room information parser
• room model
• camera model
• construct pixel into mesh
• mesh intersection
• normalize image to fit ConvNet
• visualizer