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wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 06 Sep 2011 17:55:06 -0400
parents
children b0719b3ad3db
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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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1 #! /usr/bin/env python
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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2
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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3 import sys,getopt
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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4
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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5 import numpy as np
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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6 import cv2
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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7
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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8 import cvutils
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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9 import utils
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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10
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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11 options, args = getopt.getopt(sys.argv[1:], 'h',['help','video_frame='])
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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12 options = dict(options)
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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13
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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14 if '--help' in options.keys() or '-h' in options.keys():
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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15 print('''The argument should be the name of a file containing at least 4 non-colinear point coordinates:
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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16 - the first two lines are the x and y coordinates in the projected space (usually world space)
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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17 - the last two lines are the x and y coordinates in the origin space (usually image space)''')
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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18 sys.exit()
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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19
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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20 if len(args) == 0:
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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21 print('Usage: {0} --help|-h [--video_frame <video frame filename>] [<point_correspondences.txt>]'.format(sys.argv[0]))
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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22 sys.exit()
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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23
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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24 points = np.loadtxt(args[0], dtype=np.float32)
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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25 srcPts = points[2:,:].T
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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26 dstPts = points[:2,:].T
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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27 homography, mask = cv2.findHomography(srcPts, dstPts) # method=0, ransacReprojThreshold=3
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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28 np.savetxt(utils.removeExtension(sys.argv[1])+'-homography.txt',homography)
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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29
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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30 if '--video_frame' in options.keys() and homography.size>0:
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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31 img = cv2.imread(options['--video_frame'])
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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32 for p in srcPts:
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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33 cv2.circle(img,tuple(p),2,cvutils.cvRed)
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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34 invHomography = np.linalg.inv(homography)
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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35 projectedDstPts = cvutils.projectArray(invHomography, dstPts.T).T
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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36 for i,p in enumerate(projectedDstPts):
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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37 cv2.circle(img,tuple(np.int32(np.round(p))),2,cvutils.cvBlue)
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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38 print('img: {0} / projected: {1}'.format(srcPts[i], p))
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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39 cv2.imshow('video frame',img)
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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40 cv2.waitKey()