Augmented Reality Control of the Telerobot 2003
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- 6.4 Final Specification
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Figure 35 This size 5 control point dominates the object that we are trying to model 
Figure 36 These size 3 control points were found to be the most visible, even near the back of the grid but were also the least dominating and didn’t occupy much of what they were modelling. 6.3.2 Eye Point Recall that in section <6.2.4 3D to 2D mapping equations> we were required to specify the eye point. Now, while points Ex and Ez are given by the vanishing point of the camera the value Ey needed to be specified by us. We chose 1000 to be the value of Ey. If we used a number significantly less than this value then “fish bowl” distortion was evident, this is where the edges of the image appear to be far to close and the image produced is unrealistic. If values of Ey are significantly larger than 1000 then the image appears to as an isometric projection with no foreshortening. The results are shown below. 
Figure 37 Above uses a Ey = 100, we see that the corner closest to us is distorted and doesn’t look at all like a right angle. This distortion is very undesirable as realistic representations of actual blocks are impossible to achieve. 
Figure 38 This is the same prism, albeit in a different orientation, but with Ey = 1000. The difference between the two prisms is significant. In the Ey=1000 prism we see no distortion but some foreshortening in the depth (y) axis, into the page as drawn here, is evident, compare with the prism below, with Ey=10000. 
Figure 39 At such a large distance away from the prism, 10000 pixels away from a side 100 RP, depth of the RP is particularly hard to capture, it is not even possible to see what is what with Ey=10000, from this we conclude that the constant Ey = 1000 is the most realistic, and hard wired this value into the code. 6.4 Final SpecificationThere was only one change to the original specification, and that was the inclusion of more prism colours. The original specification required only two, but through experimentation this needed to be modified to convey more meaning about the actions of the system based on the mouse position and also the button being down or not. 6.5 Documentation
Figure 40 This is an overall vi that is used to calculate information about both the 3D RP and the 2D RP, as well as any control points for the 2D RP
Figure 41 This vi is used to calibrate the 3D rectangular prism as described in section 6.2.9. It relies on a few coordinate system changes. Firstly in LabVIEW the coordinate system that in built picture controls is shown below left, the coordinate system we wish to use is shown below right. It is simple to change between the two coordinate systems though, but doing so requires the presence an additional input, the Y picture Height, this vi assumes that the Workspace is defined using LabVIEWs picture coordinate scheme. x y
y x
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