## 11/11/2011

### Project - Embeded camera R&D for Real-Time fire detection surveillance in tunnel environment

Embeded camera R&D for Real-Time fire detection surveillance in tunnel environment
- 2008.07.01~2009.06.30
- High Computing Power Embeded Camera R&D, Fire & Smoke Detection(My Job)

The goal of the project is to develop embeded camera for detect fire and smoke.
My job was an algorithm R&D for detection fire & smoke and the s/w programing.
The fire detection algorithm uses the HMM algorithm.
The features of the fire's sequence is learned in the off-line. And then the learned Markov model is used in the oline using viterbi algorithm.

Below Movies are the result of the project.

*** Demo 1, Fire detection Simple situation :

*** Demo 2, Fire detection in the road, There is similar light of the car with fire color:

***Demo 3, Fire detection test in the real fire situation :

***Demo 4, Embeded Camera Test. The camera detects the fire and then zoom in the region of the fire.

***Demo 5, Smoke detection test.

## 11/08/2011

### 8 point algorithm (Matlab source code) / The method to get the Fundamental Matrix and the Essential matrix

Created Date : 2011.8
Language : Matlab
Tool : Matlab 2010
Library & Utilized : -
Reference : Multiple View Geometry (Hartly and Zisserman)
etc. : Intrinsic Parameter, 2 adjacent images, matching points

This code is 8 point algorithm.
If we know over 8 corresponding points between two images, we can know Rotation and Translation of camera movement using 8 point algorithm.
The 8 point algorithm is well known in the vision major field.
The algorihtm is introduced at the Multiple View Geometry Book and many websites.

Have you ever listened Fundamental matrix song? The song is very cheerful. ^^

My code is very simple. so I believe my code will be useful to you.
I will upload RANSAC version later.
Thank you.

github url :https://github.com/MareArts/8point-algorithm
(I used 'getCorrectCameraMatrix' function of Isaac Esteban author.)

main M code..
```%//////////////////////////////////////////////////////////////////////////
%// Made by J.H.KIM, 2011 / feelmare@daum.net, feelmare@gmail.com        //
%// blog : http://feelmare.blogspot.com                                  //
%// Eight-Point Algorithm
%//////////////////////////////////////////////////////////////////////////

clc; clear all; close all;

% Corresponding points between two images
% sample #1 I11.jpg, I22.jpg
%{
m1 = I11; m2 = I22;
%}

%sample #2 I1.jpg, I2.jpg
m1 = I1; m2 = I2;

s = length(m1);
m1=[m1(:,1) m1(:,2) ones(s,1)];
m2=[m2(:,1) m2(:,2) ones(s,1)];
Width = 800; %image width
Height = 600; %image height

% Intrinsic Matrix
K = intrinsic_matrix;

% The matrix for normalization(Centroid)
N=[2/Width 0 -1;
0 2/Height -1;
0   0   1];

%%
% Data Centroid
x1=N*m1'; x2=N*m2';
x1=[x1(1,:)' x1(2,:)'];
x2=[x2(1,:)' x2(2,:)'];

% Af=0
A=[x1(:,1).*x2(:,1) x1(:,2).*x2(:,1) x2(:,1) x1(:,1).*x2(:,2) x1(:,2).*x2(:,2) x2(:,2) x1(:,1) x1(:,2), ones(s,1)];

% Get F matrix
[U D V] = svd(A);
F=reshape(V(:,9), 3, 3)';
% make rank 2
[U D V] = svd(F);
F=U*diag([D(1,1) D(2,2) 0])*V';

% Denormalize
F = N'*F*N;
%Verification
%L1=F*m1'; m2(1,:)*L1(:,1); m2(2,:)*L1(:,2); m2(3,:)*L1(:,3);

%%
%Get E
E=K'*F*K;
% Multiple View Geometry 259page
%Get 4 Possible P matrix
P4 = get4possibleP(E);
%Get Correct P matrix
inX = [m1(1,:)' m2(1,:)'];
P1 = [eye(3) zeros(3,1)];
P2 = getCorrectCameraMatrix(P4, K, K, inX)

%%
%Get 3D Data using Direct Linear Transform(Linear Triangular method)
Xw = Triangulation(m1',K*P1, m2',K*P2);
xx=Xw(1,:);
yy=Xw(2,:);
zz=Xw(3,:);

figure(1);
plot3(xx, yy, zz, 'r+');

%{
%This code is also run well instead of Triangulation Function.
nm1=inv(K)*m1';
nm2=inv(K)*m2';
% Direct Linear Transform
for i=1:s
A=[P1(3,:).*nm1(1,i) - P1(1,:);
P1(3,:).*nm1(2,i) - P1(2,:);
P2(3,:).*nm2(1,i) - P2(1,:);
P2(3,:).*nm2(2,i) - P2(2,:)];

A(1,:) = A(1,:)./norm(A(1,:));
A(2,:) = A(2,:)./norm(A(2,:));
A(3,:) = A(3,:)./norm(A(3,:));
A(4,:) = A(4,:)./norm(A(4,:));

[U D V] = svd(A);
X(:,i) = V(:,4)./V(4,4);
end
%}

```

## 11/07/2011

### Rotation Matrix Converting Matlab Source (Euler Angle, Rotation Matrix, Quanternion)

There are many expression to show the rotation value.
(Ex. : Euler, Matrix, Quaternion.. )

This code is the test source to convert each other.
Euler -> Matrix -> Quanternion -> Matrix -> Euler
We can show the first Euler value is same with the last Euler value.

The source code is like below:
--------------------------------------------------------------

% Rotation vector of x,y,z axis.
Rv = [13 20 50];

% 3x3 matrix of R vector (Results of the Rm1 and Rm2 is similar.)
Rm1 = rodrigues(Rv*pi/180)
Rm2 = mRotMat(Rv)

% Quntenion vector of R matrix
Rq1 = matrix2quaternion(Rm1)
Rq2 = matrix2quaternion(Rm2)

% R matrix of Q vector
Rm1_1 = quaternion2matrix(Rq1)
Rm2_2 = quaternion2matrix(Rq1)

% R vector of R matrix
Rv_1 = rodrigues(Rm1_1(1:3,1:3)) * 180/pi
Rv_2 = rodrigues(Rm2_2(1:3,1:3)) * 180/pi

-----------------------------------------------------------------------
<Source Code>

The copyright of "rodrigues' and 'quaternion' functions is reserved by Peter Kovesi.

I wish this source code is useful to you.
Thank you.