Working sample for homography

Assets/StreamingAssets/Configuration.json

@@ -1,4 +1,4 @@
 {
-	"OutputCalibrationFilesDirectory": "C:\\Users\\nick.steyer\\SmartStreetLight\\Calibration",
-	"InputCalibrationFilePath": "C:\\Users\\nick.steyer\\SmartStreetLight\\StreetLight\\Calibration2022-10-01_18-14-47.csv"
+	"OutputCalibrationFilesDirectory": "C:\\Git\\git.tk.informatik.tu-darmstadt.de\\StreetLight\\Calibration",
+	"InputCalibrationFilePath": "C:\\Git\\git.tk.informatik.tu-darmstadt.de\\StreetLight\\CalibrationBright2022-10-01_19-13-20.csv"
 }

Assets/StreamingAssets/homography.csv

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Assets/StreamingAssets/homography.csv.meta

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+guid: 1de033a5e08d4ef46b9ea672c8c47134
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/StreamingAssets/pairs.csv

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Assets/StreamingAssets/pairs.csv.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: baba5a71047700049af39b03615c1171
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/StreetLight/Scripts/PositionCalculator.cs

@@ -4,7 +4,6 @@ using MathNet.Numerics.LinearAlgebra;
 using MathNet.Numerics.LinearAlgebra.Double;
 using MathNet.Numerics.Statistics;
 using Newtonsoft.Json;
-using Numpy;
 using System;
 using System.Collections.Generic;
 using System.Globalization;
@@ -31,8 +30,8 @@ namespace Assets.StreetLight.Scripts
 
         private List<HomographyCorrespondence> LoadSampleCorrespondences()
         {
-            var p1 = File.ReadAllLines(@"C:\Users\nick.steyer\Desktop\p1.csv");
-            var p2 = File.ReadAllLines(@"C:\Users\nick.steyer\Desktop\p2.csv");
+            var p1 = File.ReadAllLines(Path.Combine(Application.streamingAssetsPath, "p1.csv"));
+            var p2 = File.ReadAllLines(Path.Combine(Application.streamingAssetsPath, "p2.csv"));
 
             var correspondences = new List<HomographyCorrespondence>();
 
@@ -62,6 +61,28 @@ namespace Assets.StreetLight.Scripts
                 throw new InvalidOperationException("Must have at least 4 correspondences to calculate a homography.");
             }
 
+            var lines = calibrationVectors.Select(v => $"{v.WorldPosition.x.ToString("0." + new string('#', 50), CultureInfo.InvariantCulture)} {v.WorldPosition.z.ToString("0." + new string('#', 50), CultureInfo.InvariantCulture)} {v.UnityPosition.x.ToString("0." + new string('#', 50), CultureInfo.InvariantCulture)} {v.UnityPosition.z.ToString("0." + new string('#', 50), CultureInfo.InvariantCulture)}");
+
+            var pairsString = string.Join(Environment.NewLine, lines);
+
+            File.WriteAllText(@"C:\Git\git.tk.informatik.tu-darmstadt.de\StreetLight\Assets\StreamingAssets\pairs.csv", pairsString);
+            var homographyString = File.ReadAllLines(@"C:\Git\git.tk.informatik.tu-darmstadt.de\StreetLight\Assets\StreamingAssets\homography.csv");
+
+            var values = homographyString.Select(l => l.Split(' ').Select(s => double.Parse(s, CultureInfo.InvariantCulture)).ToArray()).ToArray();
+
+            double[,] array = new double[3, 3];
+
+            for (int i = 0; i < 3; i++)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    array[i, j] = values[i][j];
+                }
+            }
+
+            homography = DenseMatrix.OfArray(array);
+
+            return;
             var correspondences = calibrationVectors.Select(v =>
             new HomographyCorrespondence(DenseVector.OfArray(new double[] { v.WorldPosition.x, v.WorldPosition.z }), DenseVector.OfArray(new double[] { v.UnityPosition.x, v.UnityPosition.z }))).ToList();
 
@@ -133,7 +154,7 @@ namespace Assets.StreetLight.Scripts
             var inverseH = currentH.Inverse();
 
             var matrixString = string.Join(Environment.NewLine, currentH.EnumerateRows().Select(row => string.Join(" ", row.Enumerate().Select(number => number.ToString("0." + new string('#', 50), CultureInfo.InvariantCulture)))));
-            File.WriteAllText(@"C:\Users\nick.steyer\Desktop\currentH.csv", matrixString);
+            File.WriteAllText(@"C:\Users\Nick\Desktop\currentH.csv", matrixString);
 
             var calc = new HomographyCalculator();
             //var foo = calc.InverseMatrix(currentH);

p1.csv

@@ -0,0 +1,123 @@
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