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annotate scripts/compute-homography.py @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 5f75d6c23ed5
children 51810d737d86
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1 #! /usr/bin/env python
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2
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3 import sys,getopt
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4
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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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11
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12 options, args = getopt.getopt(sys.argv[1:], 'hp:i:w:n:u:',['help'])
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13 options = dict(options)
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14
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15 # 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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16 # cameraMat = load(videoFilenamePrefix+'-camera.txt');
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17 # T1 = cameraMat[3:6,:].copy();
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18 # A = cameraMat[0:3,0:3].copy();
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19
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20 # # pay attention, rotation may be the transpose
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21 # # R = T1[:,0:3].T;
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22 # R = T1[:,0:3];
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23 # rT = dot(R, T1[:,3]/1000);
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24 # T = zeros((3,4),'f');
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25 # T[:,0:3] = R[:];
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26 # T[:,3] = rT;
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27
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28 # AT = dot(A,T);
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29
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30 # nPoints = 4;
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31 # worldPoints = cvCreateMat(nPoints, 3, CV_64FC1);
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32 # imagePoints = cvCreateMat(nPoints, 3, CV_64FC1);
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33
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34 # # extract homography from the camera calibration
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35 # worldPoints = cvCreateMat(4, 3, CV_64FC1);
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36 # imagePoints = cvCreateMat(4, 3, CV_64FC1);
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37
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38 # worldPoints[0,:] = [[1, 1, 0]];
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39 # worldPoints[1,:] = [[1, 2, 0]];
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40 # worldPoints[2,:] = [[2, 1, 0]];
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41 # worldPoints[3,:] = [[2, 2, 0]];
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42
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43 # wPoints = [[1,1,2,2],
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44 # [1,2,1,2],
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45 # [0,0,0,0]];
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46 # iPoints = utils.worldToImage(AT, wPoints);
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47
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48 # for i in range(nPoints):
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49 # imagePoints[i,:] = [iPoints[:,i].tolist()];
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50
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51 # H = cvCreateMat(3, 3, CV_64FC1);
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52
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53 # cvFindHomography(imagePoints, worldPoints, H);
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54
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55 if '--help' in options.keys() or '-h' in options.keys() or len(options) == 0:
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56 print('Usage: {0} --help|-h [-p point-correspondences.txt] [ -i video-frame] [ -w world-frame] [n number-points] [-u unit-per-pixel=1]'.format(sys.argv[0]))
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57 print('''The input data can be provided either as point correspondences already saved
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58 in a text file or inputed by clicking a certain number of points (>=4)
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59 in a video frame and a world image.
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60
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61 The point correspondence file contains at least 4 non-colinear point coordinates
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62 with the following format:
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63 - the first two lines are the x and y coordinates in the projected space (usually world space)
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64 - the last two lines are the x and y coordinates in the origin space (usually image space)
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65
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66 If providing video and world images, with a number of points to input
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67 and a ration to convert pixels to world distance unit (eg meters per pixel),
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68 the images will be shown in turn and the user should click
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69 in the same order the corresponding points in world and image spaces. ''')
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70 sys.exit()
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71
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72 homography = np.array([])
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73 if '-p' in options.keys():
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74 worldPts, videoPts = cvutils.loadPointCorrespondences(options['-p'])
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75 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
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76 elif '-i' in options.keys() and '-w' in options.keys():
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77 nPoints = 4
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78 if '-n' in options.keys():
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79 nPoints = int(options['-n'])
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80 unitsPerPixel = 1
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81 if '-u' in options.keys():
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82 unitsPerPixel = float(options['-u'])
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83 worldImg = plt.imread(options['-w'])
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84 videoImg = plt.imread(options['-i'])
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85 print('Click on {0} points in the video frame'.format(nPoints))
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86 plt.figure()
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87 plt.imshow(videoImg)
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88 videoPts = np.array(plt.ginput(nPoints))
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89 print('Click on {0} points in the world image'.format(nPoints))
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90 plt.figure()
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91 plt.imshow(worldImg)
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92 worldPts = unitsPerPixel*np.array(plt.ginput(nPoints))
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93 plt.close('all')
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94 homography, mask = cv2.findHomography(videoPts, worldPts)
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95 # save the points in file
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96 f = open('point-correspondences.txt', 'a')
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97 np.savetxt(f, worldPts.T)
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98 np.savetxt(f, videoPts.T)
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99 f.close()
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101 if homography.size>0:
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102 np.savetxt('homography.txt',homography)
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103
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104 if '-i' in options.keys() and homography.size>0:
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105 videoImg = cv2.imread(options['-i'])
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106 worldImg = cv2.imread(options['-w'])
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107 invHomography = np.linalg.inv(homography)
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108 projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T
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109 if '-u' in options.keys():
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110 unitsPerPixel = float(options['-u'])
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111 projectedVideoPts = cvutils.projectArray(invHomography, videoPts.T).T
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112 for i in range(worldPts.shape[0]):
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113 cv2.circle(videoImg,tuple(np.int32(np.round(videoPts[i]))),2,cvutils.cvRed)
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114 cv2.circle(videoImg,tuple(np.int32(np.round(projectedWorldPts[i]))),2,cvutils.cvBlue)
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115 if '-u' in options.keys():
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116 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/unitsPerPixel))),2,cvutils.cvRed)
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117 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/unitsPerPixel))),2,cvutils.cvRed)
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118 #print('img: {0} / projected: {1}'.format(videoPts[i], p))
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119 cv2.imshow('video frame',videoImg)
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120 if '-u' in options.keys():
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121 cv2.imshow('world image',worldImg)
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122 cv2.waitKey()
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123 cv2.destroyAllWindows()