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annotate trafficintelligence/tests/cvutils.txt @ 1030:aafbc0bab925

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moved method around to avoid cross-dependencies
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 19 Jun 2018 10:04:52 -0400
parents cc5cb04b04b0
children
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1 >>> from numpy import array, round, ones, dot, linalg, absolute
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2 >>> import cv2
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3 >>> from trafficintelligence import cvutils
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4 >>> img = cv2.imread("../samples/val-dor-117-111.png")
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5 >>> width = img.shape[1]
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6 >>> height = img.shape[0]
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7 >>> intrinsicCameraMatrix = array([[ 377.42, 0. , 639.12], [ 0. , 378.43, 490.2 ], [ 0. , 0. , 1. ]])
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8 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.])
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9 >>> multiplicationFactor = 1.31
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10 >>> [map1, map2], tmp = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients)
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11 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
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12 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all()
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13 True
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14 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]])
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15 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True)
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16 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2) # undistort and project as if seen by new camera
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17 >>> invNewCameraMatrix = linalg.inv(newCameraMatrix)
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18 >>> tmp = ones((imgPoints[0].shape[0], 3))
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19 >>> tmp[:,:2] = undistortedPoints
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20 >>> reducedPoints = dot(invNewCameraMatrix, tmp.T).T
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21 >>> origPoints = cv2.projectPoints(reducedPoints, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2)
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22 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
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23 True
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24 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
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25 True
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26 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix)
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27 >>> (reducedPoints == reducedPoints).all()
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28 True
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29
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30 >>> undistortedPoints2 = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort and project as if seen by new camera
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31 >>> undistortedPoints2 = cvutils.newCameraProject(undistortedPoints2.T, newCameraMatrix)
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32 >>> (undistortedPoints == undistortedPoints2.T).all()
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33 True
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34
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35 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points
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36 >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T
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37 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
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38 True
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39 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
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40 True
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42 >>> undistortedPoints = cvutils.imageToWorldProject(imgPoints[0].T, intrinsicCameraMatrix, distortionCoefficients)
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43 >>> origPoints = cvutils.worldToImageProject(undistortedPoints, intrinsicCameraMatrix, distortionCoefficients).T
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44 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
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45 True
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46 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
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47 True