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annotate scripts/compute-homography.py @ 572:9c429c7efe89

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added script to generate undistorted images from video
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Aug 2014 15:33:03 -0400
parents bd1ad468e928
children aded6c1c2ebd
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1 #! /usr/bin/env python
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3 import sys, argparse
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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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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 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
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29 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
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30 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
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31 parser.add_argument('--undistort', dest = 'undistort', help = 'undistort the video (because features have been extracted that way', action = 'store_true')
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32 parser.add_argument('--save', dest = 'saveImages', help = 'save the undistorted video frame (display option must be chosen)', action = 'store_true')
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34 args = parser.parse_args()
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35
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36 # 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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37 # cameraMat = load(videoFilenamePrefix+'-camera.txt');
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38 # T1 = cameraMat[3:6,:].copy();
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39 # A = cameraMat[0:3,0:3].copy();
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40
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41 # # pay attention, rotation may be the transpose
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42 # # R = T1[:,0:3].T;
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43 # R = T1[:,0:3];
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44 # rT = dot(R, T1[:,3]/1000);
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45 # T = zeros((3,4),'f');
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46 # T[:,0:3] = R[:];
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47 # T[:,3] = rT;
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48
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49 # AT = dot(A,T);
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50
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51 # nPoints = 4;
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52 # worldPoints = cvCreateMat(nPoints, 3, CV_64FC1);
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53 # imagePoints = cvCreateMat(nPoints, 3, CV_64FC1);
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54
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55 # # extract homography from the camera calibration
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56 # worldPoints = cvCreateMat(4, 3, CV_64FC1);
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57 # imagePoints = cvCreateMat(4, 3, CV_64FC1);
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58
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59 # worldPoints[0,:] = [[1, 1, 0]];
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60 # worldPoints[1,:] = [[1, 2, 0]];
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61 # worldPoints[2,:] = [[2, 1, 0]];
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62 # worldPoints[3,:] = [[2, 2, 0]];
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63
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64 # wPoints = [[1,1,2,2],
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65 # [1,2,1,2],
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66 # [0,0,0,0]];
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67 # iPoints = utils.worldToImage(AT, wPoints);
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68
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69 # for i in range(nPoints):
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70 # imagePoints[i,:] = [iPoints[:,i].tolist()];
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71
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72 # H = cvCreateMat(3, 3, CV_64FC1);
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73
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74 # cvFindHomography(imagePoints, worldPoints, H);
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75
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77 homography = np.array([])
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78 if args.pointCorrespondencesFilename != None:
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79 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename)
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80 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
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81 elif args.videoFrameFilename != None and args.worldFilename != None:
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82 worldImg = plt.imread(args.worldFilename)
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83 videoImg = plt.imread(args.videoFrameFilename)
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84 if args.undistort:
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85 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
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86 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
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87 print('Click on {0} points in the video frame'.format(args.nPoints))
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88 plt.figure()
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89 plt.imshow(videoImg)
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90 videoPts = np.array(plt.ginput(args.nPoints, timeout=3000))
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91 print('Click on {0} points in the world image'.format(args.nPoints))
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92 plt.figure()
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93 plt.imshow(worldImg)
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94 worldPts = args.unitsPerPixel*np.array(plt.ginput(args.nPoints, timeout=3000))
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95 plt.close('all')
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96 homography, mask = cv2.findHomography(videoPts, worldPts)
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97 # save the points in file
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98 f = open('point-correspondences.txt', 'a')
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99 np.savetxt(f, worldPts.T)
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100 np.savetxt(f, videoPts.T)
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101 f.close()
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103 if homography.size>0:
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104 np.savetxt('homography.txt',homography)
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105
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106 if args.displayPoints and args.videoFrameFilename != None and args.worldFilename != None and homography.size>0:
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107 worldImg = cv2.imread(args.worldFilename)
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108 videoImg = cv2.imread(args.videoFrameFilename)
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109 if args.undistort:
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110 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
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111 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
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112 if args.saveImages:
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113 cv2.imwrite(utils.removeExtension(args.videoFrameFilename)+'-undistorted.png', videoImg)
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114 invHomography = np.linalg.inv(homography)
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115 projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T
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116 projectedVideoPts = cvutils.projectArray(homography, videoPts.T).T
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117 for i in range(worldPts.shape[0]):
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118 # world image
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119 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvBlue)
476
6551a3cf1750 modified compute-homography to work with argparse
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 443
diff changeset
120 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed)
478
d337bffd7283 Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 476
diff changeset
121 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 changeset
122 # video image
d337bffd7283 Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 476
diff changeset
123 cv2.circle(videoImg,tuple(np.int32(np.round(videoPts[i]))),2,cvutils.cvBlue)
d337bffd7283 Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 476
diff changeset
124 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
125 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 changeset
126 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
diff changeset
127 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:
diff changeset
128 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
diff changeset
129 cv2.destroyAllWindows()