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comparison python/cvutils.py @ 468:5304299e53a5
added coordinate undistortion function
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Thu, 06 Mar 2014 15:01:19 -0500 |
| parents | 17185fe77316 |
| children | a50c026fdf14 |
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| 466:e891a41c6c75 | 468:5304299e53a5 |
|---|---|
| 263 projected = camera.image_to_world(tuple(srcPoint)) | 263 projected = camera.image_to_world(tuple(srcPoint)) |
| 264 dstPoints.append([projected[0], projected[1]]) | 264 dstPoints.append([projected[0], projected[1]]) |
| 265 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold) | 265 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold) |
| 266 return H | 266 return H |
| 267 | 267 |
| 268 def correctedCoordinates(x,y, map1, map2): | |
| 269 '''Returns the coordinates of a point in undistorted image | |
| 270 map1 and map2 are the mapping functions from undistorted image | |
| 271 to distorted (original image) | |
| 272 map1(x,y) = originalx, originaly''' | |
| 273 from numpy import abs, logical_and, unravel_index, dot, sum | |
| 274 from matplotlib.mlab import find | |
| 275 distx = abs(map1-x) | |
| 276 disty = abs(map2-y) | |
| 277 indices = logical_and(distx<1, disty<1) | |
| 278 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x | |
| 279 xWeights = 1-distx[indices] | |
| 280 yWeights = 1-disty[indices] | |
| 281 return dot(xWeights, closeCoordinates[1])/sum(xWeights), dot(yWeights, closeCoordinates[0])/sum(yWeights) | |
| 282 | |
| 268 | 283 |
| 269 def printCvMat(cvmat, out = stdout): | 284 def printCvMat(cvmat, out = stdout): |
| 270 '''Prints the cvmat to out''' | 285 '''Prints the cvmat to out''' |
| 271 print('Deprecated, use new interface') | 286 print('Deprecated, use new interface') |
| 272 for i in xrange(cvmat.rows): | 287 for i in xrange(cvmat.rows): |