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comparison scripts/compute-homography.py @ 639:4e7925cb4f8f

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modified tsai camera homography computation to avoid using os dependent temporary files
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 09 Apr 2015 13:11:25 +0200
parents 852f5de42d01
children fe34c0f79c32
comparison
equal deleted inserted replaced
638:852f5de42d01 639:4e7925cb4f8f
79 homography = np.array([]) 79 homography = np.array([])
80 if args.pointCorrespondencesFilename is not None: 80 if args.pointCorrespondencesFilename is not None:
81 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename) 81 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename)
82 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3 82 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
83 elif args.tsaiCameraFilename is not None: # hack using PDTV 83 elif args.tsaiCameraFilename is not None: # hack using PDTV
84 from StringIO import StringIO
85 from pdtv import TsaiCamera
86 import yaml
84 f = storage.openCheck(args.tsaiCameraFilename, quitting = True) 87 f = storage.openCheck(args.tsaiCameraFilename, quitting = True)
85 content = storage.getLines(f) 88 content = storage.getLines(f)
86 outFilename = '/tmp/camera.yaml' 89 #out.write('data_class: TsaiCamera\n')
87 out = storage.openCheck(outFilename, 'w') 90 yamlContent = ''.join([l.replace(' f:', 'f:').replace(' k:', 'k:').replace(',','.')+'\n' for l in content])
88 out.write('data_class: TsaiCamera\n') 91 cameraData = yaml.load(StringIO(yamlContent))
89 for l in content: 92 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'])
90 out.write(l.replace(' f:', 'f:').replace(' k:', 'k:').replace(',','.')+'\n') 93 homography = cvutils.computeHomographyFromPDTV(camera)
91 out.close()
92 homography = cvutils.computeHomographyFromPDTV(outFilename)
93 elif args.videoFrameFilename is not None and args.worldFilename is not None: 94 elif args.videoFrameFilename is not None and args.worldFilename is not None:
94 worldImg = plt.imread(args.worldFilename) 95 worldImg = plt.imread(args.worldFilename)
95 videoImg = plt.imread(args.videoFrameFilename) 96 videoImg = plt.imread(args.videoFrameFilename)
96 if args.undistort: 97 if args.undistort:
97 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients) 98 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)