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+**/.venv/
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diff --git a/homework3/calibrate.ipynb b/homework3/calibrate.ipynb
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+{
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+ {
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+ "execution_count": null,
+ "id": "3198ac0f",
+ "metadata": {
+ "id": "3198ac0f"
+ },
+ "outputs": [],
+ "source": [
+ "# You should not need to change this\n",
+ "#\n",
+ "# The next line suppresses output, otherwise you'd see a lot of install notifications.\n",
+ "%%capture\n",
+ "!pip install pandas matplotlib pyproj pymap3d"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "3dfa8eaf",
+ "metadata": {
+ "id": "3dfa8eaf"
+ },
+ "outputs": [],
+ "source": [
+ "# You should not need to change this\n",
+ "#\n",
+ "# Import necessary libraries\n",
+ "import pandas as pd # For data manipulation and reading CSV files\n",
+ "import matplotlib.pyplot as plt # For plotting images and points\n",
+ "from pyproj import Transformer # For coordinate system transformations (Geodetic <-> ECEF)\n",
+ "from PIL import Image # For opening and handling image files\n",
+ "import pymap3d as pm # For coordinate system transformations (ECEF <-> ENU)\n",
+ "import numpy as np # For numerical operations, especially with arrays\n",
+ "import cv2 # OpenCV library for computer vision tasks like camera calibration and projection\n",
+ "import os # For interacting with the operating system, like joining paths\n",
+ "import requests\n",
+ "from io import BytesIO"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "_F4MiVagLza8",
+ "metadata": {
+ "id": "_F4MiVagLza8"
+ },
+ "outputs": [],
+ "source": [
+ "# YOU MAY want to change this to allow csv / images to be stored and accessed via your google drive\n",
+ "#\n",
+ "# Import the Google Colab drive library to mount Google Drive\n",
+ "#\n",
+ "# If you are running this notebook locally, you dont need this line\n",
+ "# from google.colab import drive\n",
+ "\n",
+ "# Mount Google Drive to access files stored there\n",
+ "# This allows the notebook to read data from and write data to your Drive\n",
+ "# drive.mount('/content/drive')"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "c0aaf183",
+ "metadata": {},
+ "source": [
+ "## Setup Local coordinate system"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 7,
+ "id": "c5b4bc1c",
+ "metadata": {
+ "id": "c5b4bc1c"
+ },
+ "outputs": [],
+ "source": [
+ "# CHANGE THIS to define the local coordinate system origin (someplace near the camera). Code I am sharing points this point near Madison Wisconsin.\n",
+ "#\n",
+ "# Define the GPS coordinates (latitude, longitude, altitude) approximately for the camera's origin point\n",
+ "# This point will serve as the reference for the local East-North-Up (ENU) coordinate system\n",
+ "origin_lat = 43.07063697146 # Latitude of the origin point (e.g., camera location)\n",
+ "origin_lon = -89.40685704184578 # Longitude of the origin point\n",
+ "origin_alt = 263 + 204*0.3048 # Altitude of the origin point (calculated example: base + height in feet converted to meters)\n",
+ "\n",
+ "# Store the origin GPS coordinates in a tuple\n",
+ "origin_gps = (origin_lat, origin_lon, origin_alt)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "90887f36",
+ "metadata": {},
+ "source": [
+ "## Load the Points CSV"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "id": "d5df38b7",
+ "metadata": {
+ "colab": {
+ "base_uri": "https://localhost:8080/",
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+ },
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