Mercurial Hosting > traffic-intelligence
annotate scripts/compute-homography.py @ 502:33574b94f09e
corrected a bug and improved code
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 27 May 2014 15:43:14 -0400 |
parents | d337bffd7283 |
children | b0dac840c24f |
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1 #! /usr/bin/env python |
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3 import sys, argparse |
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5 import matplotlib.pyplot as plt |
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6 import numpy as np |
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7 import cv2 |
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8 |
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9 import cvutils |
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10 import utils |
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12 parser = argparse.ArgumentParser(description='The program computes the homography matrix from at least 4 non-colinear point correspondences inputed in the same order in a video frame and a aerial photo/ground map, or from the list of corresponding points in the two planes.', epilog = '''The point correspondence file contains at least 4 non-colinear point coordinates |
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13 with the following format: |
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14 - the first two lines are the x and y coordinates in the projected space (usually world space) |
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15 - the last two lines are the x and y coordinates in the origin space (usually image space) |
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16 |
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17 If providing video and world images, with a number of points to input |
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18 and a ration to convert pixels to world distance unit (eg meters per pixel), |
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19 the images will be shown in turn and the user should click |
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20 in the same order the corresponding points in world and image spaces.''', formatter_class=argparse.RawDescriptionHelpFormatter,) |
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21 |
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22 parser.add_argument('-p', dest = 'pointCorrespondencesFilename', help = 'name of the text file containing the point correspondences') |
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23 parser.add_argument('-i', dest = 'videoFrameFilename', help = 'filename of the video frame') |
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24 parser.add_argument('-w', dest = 'worldFilename', help = 'filename of the aerial photo/ground map') |
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25 parser.add_argument('-n', dest = 'nPoints', help = 'number of corresponding points to input', default = 4, type = int) |
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26 parser.add_argument('-u', dest = 'unitsPerPixel', help = 'number of units per pixel', default = 1., type = float) |
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27 parser.add_argument('--display', dest = 'displayPoints', help = 'display original and projected points on both images', action = 'store_true') |
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28 |
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29 args = parser.parse_args() |
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31 # TODO process camera intrinsic and extrinsic parameters to obtain image to world homography, taking example from Work/src/python/generate-homography.py script |
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32 # cameraMat = load(videoFilenamePrefix+'-camera.txt'); |
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33 # T1 = cameraMat[3:6,:].copy(); |
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34 # A = cameraMat[0:3,0:3].copy(); |
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35 |
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36 # # pay attention, rotation may be the transpose |
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37 # # R = T1[:,0:3].T; |
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38 # R = T1[:,0:3]; |
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39 # rT = dot(R, T1[:,3]/1000); |
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40 # T = zeros((3,4),'f'); |
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41 # T[:,0:3] = R[:]; |
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42 # T[:,3] = rT; |
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43 |
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44 # AT = dot(A,T); |
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45 |
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46 # nPoints = 4; |
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47 # worldPoints = cvCreateMat(nPoints, 3, CV_64FC1); |
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48 # imagePoints = cvCreateMat(nPoints, 3, CV_64FC1); |
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49 |
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50 # # extract homography from the camera calibration |
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51 # worldPoints = cvCreateMat(4, 3, CV_64FC1); |
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52 # imagePoints = cvCreateMat(4, 3, CV_64FC1); |
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53 |
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54 # worldPoints[0,:] = [[1, 1, 0]]; |
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55 # worldPoints[1,:] = [[1, 2, 0]]; |
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56 # worldPoints[2,:] = [[2, 1, 0]]; |
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57 # worldPoints[3,:] = [[2, 2, 0]]; |
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58 |
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59 # wPoints = [[1,1,2,2], |
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60 # [1,2,1,2], |
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61 # [0,0,0,0]]; |
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62 # iPoints = utils.worldToImage(AT, wPoints); |
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63 |
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64 # for i in range(nPoints): |
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65 # imagePoints[i,:] = [iPoints[:,i].tolist()]; |
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66 |
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67 # H = cvCreateMat(3, 3, CV_64FC1); |
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68 |
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69 # cvFindHomography(imagePoints, worldPoints, H); |
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70 |
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72 homography = np.array([]) |
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73 if args.pointCorrespondencesFilename != None: |
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74 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename) |
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75 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3 |
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76 elif args.videoFrameFilename != None and args.worldFilename != None: |
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77 worldImg = plt.imread(args.worldFilename) |
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78 videoImg = plt.imread(args.videoFrameFilename) |
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79 print('Click on {0} points in the video frame'.format(args.nPoints)) |
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80 plt.figure() |
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81 plt.imshow(videoImg) |
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82 videoPts = np.array(plt.ginput(args.nPoints, timeout=3000)) |
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83 print('Click on {0} points in the world image'.format(args.nPoints)) |
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84 plt.figure() |
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85 plt.imshow(worldImg) |
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86 worldPts = args.unitsPerPixel*np.array(plt.ginput(args.nPoints, timeout=3000)) |
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87 plt.close('all') |
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88 homography, mask = cv2.findHomography(videoPts, worldPts) |
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89 # save the points in file |
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90 f = open('point-correspondences.txt', 'a') |
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91 np.savetxt(f, worldPts.T) |
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92 np.savetxt(f, videoPts.T) |
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93 f.close() |
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94 |
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95 if homography.size>0: |
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96 np.savetxt('homography.txt',homography) |
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97 |
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98 if args.displayPoints and args.videoFrameFilename != None and args.worldFilename != None and homography.size>0: |
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99 worldImg = cv2.imread(args.worldFilename) |
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100 videoImg = cv2.imread(args.videoFrameFilename) |
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101 invHomography = np.linalg.inv(homography) |
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102 projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T |
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103 projectedVideoPts = cvutils.projectArray(homography, videoPts.T).T |
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104 for i in range(worldPts.shape[0]): |
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105 # world image |
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106 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvBlue) |
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107 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed) |
478
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Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
476
diff
changeset
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108 cv2.putText(worldImg, str(i+1), tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))+5), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue, 2) |
d337bffd7283
Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
476
diff
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109 # video image |
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Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
476
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110 cv2.circle(videoImg,tuple(np.int32(np.round(videoPts[i]))),2,cvutils.cvBlue) |
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Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
476
diff
changeset
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111 cv2.circle(videoImg,tuple(np.int32(np.round(projectedWorldPts[i]))),2,cvutils.cvRed) |
d337bffd7283
Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
476
diff
changeset
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112 cv2.putText(videoImg, str(i+1), tuple(np.int32(np.round(videoPts[i])+5)), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue, 2) |
238
be3761a09b20
added functions to input point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
237
diff
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113 cv2.imshow('video frame',videoImg) |
478
d337bffd7283
Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
476
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114 cv2.imshow('world image',worldImg) |
151
4af774bb186d
wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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115 cv2.waitKey() |
346
5f75d6c23ed5
added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
334
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116 cv2.destroyAllWindows() |