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comparison trafficintelligence/cvutils.py @ 1174:2f89dc3d99e5
clarification of worldToImageProject method
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 17 Dec 2021 14:26:45 -0500 |
parents | d71a4d174b1a |
children | 3905b393ade0 |
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1173:c1766bb5076c | 1174:2f89dc3d99e5 |
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567 return homographyProject(undistortedPoints.T, homography) | 567 return homographyProject(undistortedPoints.T, homography) |
568 else: | 568 else: |
569 return homographyProject(points, homography) | 569 return homographyProject(points, homography) |
570 | 570 |
571 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None): | 571 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None): |
572 '''Projects points (2xN array) from image (video) space to world space | 572 '''Projects points (2xN array) from world space to image (video) space |
573 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients | 573 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients |
574 2. through homograph projection (from ideal point (no camera) to world)''' | 574 2. through homograph projection (from ideal point (no camera) to world) |
575 | |
576 Warning: this usually means to invert the homography if computer from image (ideal point) to world space, eg using numpy.linalg.inv''' | |
575 if points.shape[0] != 2: | 577 if points.shape[0] != 2: |
576 raise Exception('points of dimension {}'.format(points.shape)) | 578 raise Exception('points of dimension {}'.format(points.shape)) |
577 | 579 |
578 if intrinsicCameraMatrix is not None and distortionCoefficients is not None: | 580 if intrinsicCameraMatrix is not None and distortionCoefficients is not None: |
579 projected3D = homographyProject(points, homography, True) | 581 projected3D = homographyProject(points, homography, True) |