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annotate python/compute-homography.py @ 235:584613399513

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added script and functions to remove object tables
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 05 Jul 2012 23:32:14 -0400
parents ba71924cadf5
children eb4525853030
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4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
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1 #! /usr/bin/env python
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3 import sys,getopt
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4
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5 import numpy as np
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6 import cv2
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7
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8 import cvutils
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9 import utils
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11 options, args = getopt.getopt(sys.argv[1:], 'h',['help','video_frame='])
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12 options = dict(options)
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13
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14 # 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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15 # cameraMat = load(videoFilenamePrefix+'-camera.txt');
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16 # T1 = cameraMat[3:6,:].copy();
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17 # A = cameraMat[0:3,0:3].copy();
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18
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19 # # pay attention, rotation may be the transpose
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20 # # R = T1[:,0:3].T;
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21 # R = T1[:,0:3];
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22 # rT = dot(R, T1[:,3]/1000);
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23 # T = zeros((3,4),'f');
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24 # T[:,0:3] = R[:];
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25 # T[:,3] = rT;
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26
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27 # AT = dot(A,T);
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28
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29 # nPoints = 4;
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30 # worldPoints = cvCreateMat(nPoints, 3, CV_64FC1);
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31 # imagePoints = cvCreateMat(nPoints, 3, CV_64FC1);
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32
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33 # # extract homography from the camera calibration
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34 # worldPoints = cvCreateMat(4, 3, CV_64FC1);
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35 # imagePoints = cvCreateMat(4, 3, CV_64FC1);
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36
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37 # worldPoints[0,:] = [[1, 1, 0]];
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38 # worldPoints[1,:] = [[1, 2, 0]];
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39 # worldPoints[2,:] = [[2, 1, 0]];
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40 # worldPoints[3,:] = [[2, 2, 0]];
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41
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42 # wPoints = [[1,1,2,2],
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43 # [1,2,1,2],
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44 # [0,0,0,0]];
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45 # iPoints = utils.worldToImage(AT, wPoints);
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46
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47 # for i in range(nPoints):
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48 # imagePoints[i,:] = [iPoints[:,i].tolist()];
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49
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50 # H = cvCreateMat(3, 3, CV_64FC1);
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51
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52 # cvFindHomography(imagePoints, worldPoints, H);
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53
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55 if '--help' in options.keys() or '-h' in options.keys() or len(args) == 0::
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56 print('Usage: {0} --help|-h [--video_frame <video frame filename>] [<point_correspondences.txt>]'.format(sys.argv[0]))
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57 print('''The positional argument should be the name
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58 of a file containing at least 4 non-colinear point coordinates (point correspondences:
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59 - the first two lines are the x and y coordinates in the projected space (usually world space)
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60 - the last two lines are the x and y coordinates in the origin space (usually image space)''')
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61 sys.exit()
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62
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63 dstPts, srcPts = cvutils.loadPointCorrespondences(args[0])
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64 homography, mask = cv2.findHomography(srcPts, dstPts) # method=0, ransacReprojThreshold=3
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65 np.savetxt(utils.removeExtension(sys.argv[1])+'-homography.txt',homography)
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67 if '--video_frame' in options.keys() and homography.size>0:
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68 img = cv2.imread(options['--video_frame'])
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69 for p in srcPts:
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70 cv2.circle(img,tuple(p),2,cvutils.cvRed)
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71 invHomography = np.linalg.inv(homography)
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72 projectedDstPts = cvutils.projectArray(invHomography, dstPts.T).T
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73 for i,p in enumerate(projectedDstPts):
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74 cv2.circle(img,tuple(np.int32(np.round(p))),2,cvutils.cvBlue)
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75 print('img: {0} / projected: {1}'.format(srcPts[i], p))
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76 cv2.imshow('video frame',img)
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77 cv2.waitKey()