How to find the angle formed by the blades of a wind turbine when yaw changes?

Question

This is a continuation of the question from here - How to find the angle formed by the blades of a wind turbine relative to the horizontal imaginary axis?

I decided to use the following methodology for this -  Getting a frame from the camera and setting it to the loop.  Performing edge detection.  Run HoughLinesP to detect lines in the image. Finding the angle of the blade:  Follow the Hough Lines Transform probability lines in the image. Limit the blade lines to the length of the blades, as is already known.  The returned value will have the start and end points of the detected lines. Since there is no background noise, this gives the start and end points of the blade lines, and the image will have blade lines.  Now find the point product with the vector (1,0) by finding the vectors of the detected blade lines, or we can use atan2 to determine the relative angle of all the points detected relative to the horizontal.

Problem: When the angle of rotation of the turbine changes and it is not directly facing the camera, how can I calculate the angle of inclination of the blade? The idea is to basically display angles when they rotate back into shape when viewing the head. From what I was able to understand, I thought that I would find a homography matrix, decompose the matrix to get a rotation, convert to Euler angles to calculate the offset from the original axis, and then shift all the axes by this angle. However, this is just a vague idea in which there is no specific planning. Or do I start by trying to find the projection matrix, then get the matrix matrix and the rotation matrix? I am completely lost on this account and I feel overwhelmed by many functions ...

Other things I came across were perspective conversion, solvepnp ..

, - ? . OpenCV .

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Answer 1

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• (cv:: findHomography OpenCv)
• (cv:: decoseHomographyMat).
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