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comparison python/cvutils.py @ 100:2a3cafcf5faf

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added function to compute the translation between two images
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Jul 2011 19:59:25 -0400
parents e7dc5a780f09
children abfc54c097d4
comparison
equal deleted inserted replaced
99:e7dc5a780f09 100:2a3cafcf5faf
94 from numpy.linalg.linalg import inv 94 from numpy.linalg.linalg import inv
95 invH = inv(homography) 95 invH = inv(homography)
96 invH /= invH[2,2] 96 invH /= invH[2,2]
97 return invH 97 return invH
98 98
99 def computeTranslation(img1, img2, img1Points, maxTranslation, minNMatches, windowSize = (5,5), level = 5, criteria = (cv.CV_TERMCRIT_EPS, 0, 0.01)):
100 '''Computes the translation between of img2 with respect to img1
101 (loaded using OpenCV)
102 img1Points are used to compute the translation
103
104 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom)'''
105 from numpy.core.multiarray import zeros
106 from numpy.lib.function_base import median
107
108 (img2Points, status, track_error) = cv.CalcOpticalFlowPyrLK(img1, img2, zeros((img1.rows,img1.cols+8)), zeros((img1.rows,img1.cols+8)), img1Points, windowSize, level, criteria, 0)
109
110 deltaX = []
111 deltaY = []
112 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
113 if status[k] == 1:
114 dx = p2[0]-p1[0]
115 dy = p2[1]-p1[1]
116 d = dx**2 + dy**2
117 if d < maxTranslation:
118 deltaX.append(dx)
119 deltaY.append(dy)
120 if len(deltaX) >= 10:
121 return [median(deltaX), median(deltaY)]
122 else:
123 return None
124
99 class FourWayIntersection: 125 class FourWayIntersection:
100 '''Simple class for simple intersection outline''' 126 '''Simple class for simple intersection outline'''
101 def __init__(self, dimension, coordX, coordY): 127 def __init__(self, dimension, coordX, coordY):
102 self.dimension = dimension 128 self.dimension = dimension
103 self.coordX = coordX 129 self.coordX = coordX