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annotate scripts/compute-homography.py @ 1240:bb14f919d1cb

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cleaned use of centile (np only) and added info in classify-objects
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 05 Feb 2024 14:14:14 -0500
parents 6a6a4d5958f7
children
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933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
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1 #! /usr/bin/env python3
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3 import sys, argparse
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5 import matplotlib
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6 matplotlib.use('TkAgg')
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7
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8 import matplotlib.pyplot as plt
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9 import numpy as np
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10 import cv2
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12 from trafficintelligence import cvutils, utils, storage
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13
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14 # TODO add option to use RANSAC or other robust homography estimation method?
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16 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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17 with the following format:
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18 - the first two lines are the x and y coordinates in the projected space (usually world space)
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19 - the last two lines are the x and y coordinates in the origin space (usually image space)
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21 Image space is in ideal point space (no camera) if undistorting the camera
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22
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23 If providing video and world images, with a number of points to input
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24 and a ratio to convert pixels to world distance unit (eg meters per pixel),
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25 the images will be shown in turn and the user should click
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26 in the same order the corresponding points in world and image spaces.''', formatter_class=argparse.RawDescriptionHelpFormatter)
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27
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28 parser.add_argument('-p', dest = 'pointCorrespondencesFilename', help = 'name of the text file containing the point correspondences')
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29 parser.add_argument('--tsai', dest = 'tsaiCameraFilename', help = 'name of the text file containing the camera parameter following the pinhole camera model (Lund format)') # caution, this is Aliaksei's format
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30 parser.add_argument('-i', dest = 'videoFrameFilename', help = 'filename of the video frame')
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31 parser.add_argument('-w', dest = 'worldFilename', help = 'filename of the aerial photo/ground map')
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32 parser.add_argument('-n', dest = 'nPoints', help = 'number of corresponding points to input', default = 4, type = int)
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33 parser.add_argument('-u', dest = 'unitsPerPixel', help = 'number of units per pixel', default = 1., type = float)
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34 parser.add_argument('-o', dest = 'homographyFilename', help = 'filename of the homography matrix', default = 'homography.txt')
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35 parser.add_argument('--display', dest = 'displayPoints', help = 'display original and projected points on both images', action = 'store_true')
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36 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
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37 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
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38 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float, default = 1.)
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39 parser.add_argument('--undistort', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
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40 parser.add_argument('--correspondences-imagepoints-in-image-space', dest = 'correspondencesImagePointsInImageSpace', help = 'if image points are provided in the actual image space (before undistortion)', action = 'store_true')
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41 parser.add_argument('--save', dest = 'saveImages', help = 'save the undistorted video frame (display option must be chosen)', action = 'store_true')
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43 args = parser.parse_args()
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45 homography = np.array([])
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46 if args.pointCorrespondencesFilename is not None:
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47 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename)
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48 if args.correspondencesImagePointsInImageSpace:
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49 videoPts = cv2.undistortPoints(videoPts.T, np.loadtxt(args.intrinsicCameraMatrixFilename), np.array(args.distortionCoefficients)).reshape(-1,2)
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50 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
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51 elif args.tsaiCameraFilename is not None: # hack using PDTV
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52 from pdtv import TsaiCamera
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53 cameraData = storage.loadPinholeCameraModel(args.tsaiCameraFilename)
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54 camera = TsaiCamera(Cx=cameraData['Cx'], Cy=cameraData['Cy'], Sx=cameraData['Sx'], Tx=cameraData['Tx'], Ty=cameraData['Ty'], Tz=cameraData['Tz'], dx=cameraData['dx'], dy=cameraData['dy'], f=cameraData['f'], k=cameraData['k'], r1=cameraData['r1'], r2=cameraData['r2'], r3=cameraData['r3'], r4=cameraData['r4'], r5=cameraData['r5'], r6=cameraData['r6'], r7=cameraData['r7'], r8=cameraData['r8'], r9=cameraData['r9'])
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55 homography = cvutils.computeHomographyFromPDTV(camera)
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56 elif args.videoFrameFilename is not None and args.worldFilename is not None:
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57 worldImg = plt.imread(args.worldFilename)
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58 videoImg = plt.imread(args.videoFrameFilename)
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59 if args.undistort:
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60 [map1, map2], newCameraMatrix = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
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61 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
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62 print('Click on {} points in the video frame'.format(args.nPoints))
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63 plt.ion()
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64 plt.figure()
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65 plt.imshow(videoImg)
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66 plt.tight_layout()
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67 videoPts = np.array(plt.ginput(args.nPoints, timeout=3000))
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68 if args.undistort:
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69 videoPts = cvutils.newCameraProject(videoPts.T, np.linalg.inv(newCameraMatrix)).T
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70 print('Click on {} points in the world image'.format(args.nPoints))
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71 plt.figure()
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72 plt.imshow(worldImg)
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73 plt.tight_layout()
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74 worldPts = args.unitsPerPixel*np.array(plt.ginput(args.nPoints, timeout=3000))
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75 plt.close('all')
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76 homography, mask = cv2.findHomography(videoPts, worldPts)
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77 # save the points in file
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78 f = open('point-correspondences.txt', 'a')
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79 np.savetxt(f, worldPts.T)
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80 np.savetxt(f, videoPts.T)
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81 f.close()
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82
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83 if homography.size>0:
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84 np.savetxt(args.homographyFilename,homography)
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85
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86 if args.displayPoints and args.videoFrameFilename is not None and args.worldFilename is not None and homography.size>0 and args.tsaiCameraFilename is None:
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87 worldImg = cv2.imread(args.worldFilename)
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88 videoImg = cv2.imread(args.videoFrameFilename)
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89 if args.undistort:
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90 [map1, map2], newCameraMatrix = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
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91 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
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92 if args.saveImages:
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93 cv2.imwrite(utils.removeExtension(args.videoFrameFilename)+'-undistorted.png', videoImg)
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94 invHomography = np.linalg.inv(homography)
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95 projectedWorldPts = cvutils.homographyProject(worldPts.T, invHomography).T
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96 projectedVideoPts = cvutils.homographyProject(videoPts.T, homography).T
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97 if args.undistort:
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98 projectedWorldPts = cvutils.newCameraProject(projectedWorldPts.T, newCameraMatrix).T
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99 videoPts = cvutils.newCameraProject(videoPts.T, newCameraMatrix).T
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100 for i in range(worldPts.shape[0]):
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101 # world image
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102 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvBlue['default'])
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103 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed['default'])
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104 cv2.putText(worldImg, str(i+1), tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))+5), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue['default'], 2)
478
d337bffd7283 Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 476
diff changeset
105 # video image
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
106 cv2.circle(videoImg,tuple(np.int32(np.round(videoPts[i]))),2,cvutils.cvBlue['default'])
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
107 cv2.circle(videoImg,tuple(np.int32(np.round(projectedWorldPts[i]))),2,cvutils.cvRed['default'])
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
108 cv2.putText(videoImg, str(i+1), tuple(np.int32(np.round(videoPts[i])+5)), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue['default'], 2)
238
be3761a09b20 added functions to input point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 237
diff changeset
109 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
110 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
111 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
112 cv2.destroyAllWindows()