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comparison python/cvutils.py @ 936:56cc8a1f7082

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removed all old versions of projection methods
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jul 2017 16:48:42 -0400
parents 0e63a918a1ca
children e5970606066f
comparison
equal deleted inserted replaced
935:0e63a918a1ca 936:56cc8a1f7082
331 if obj.existsAtInstant(frameNum): 331 if obj.existsAtInstant(frameNum):
332 if not hasattr(obj, 'projectedPositions'): 332 if not hasattr(obj, 'projectedPositions'):
333 obj.projectedPositions = obj.getPositions().homographyProject(homography) 333 obj.projectedPositions = obj.getPositions().homographyProject(homography)
334 if undistort: 334 if undistort:
335 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix) 335 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
336 #obj.projectedPositions = obj.positions
337 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant()) 336 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
338 if frameNum not in boundingBoxes.keys() and obj.hasFeatures(): 337 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
339 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height) 338 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
340 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1) 339 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
341 objDescription = '{} '.format(obj.num) 340 objDescription = '{} '.format(obj.num)
575 projected = dot(newCameraMatrix, augmentedPoints) 574 projected = dot(newCameraMatrix, augmentedPoints)
576 return projected[:2,:] 575 return projected[:2,:]
577 else: 576 else:
578 return points 577 return points
579 578
580 def projectArray(homography, points, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
581 '''Returns the coordinates of the projected points through homography
582 (format: array 2xN points)'''
583 if points.shape[0] != 2:
584 raise Exception('points of dimension {}'.format(points.shape))
585
586 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
587 if homography is not None and homography.size>0:
588 prod = dot(homography, augmentedPoints)
589 projected = prod/prod[2]
590 else:
591 projected = augmentedPoints
592
593 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
594 if newCameraMatrix is not None:
595 invNewCameraMatrix = inv(newCameraMatrix)
596 reducedPoints = dot(invNewCameraMatrix, projected)
597 else:
598 reducedPoints = projected
599 projected, jacobian = cv2.projectPoints(reducedPoints.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
600 projected = projected.reshape(-1,2).T
601 return projected[:2,:]
602
603 def project(homography, p, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
604 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
605 through homography'''
606 return projectArray(homography, array([[p[0]],[p[1]]]), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix)
607
608 def projectTrajectory(homography, trajectory, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
609 '''Projects a series of points in the format
610 [[x1, x2, ...],
611 [y1, y2, ...]]'''
612 return projectArray(homography, array(trajectory), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix)
613
614 def invertHomography(homography):
615 '''Returns an inverted homography
616 Unnecessary for reprojection over camera image'''
617 invH = inv(homography)
618 invH /= invH[2,2]
619 return invH
620
621 def undistortTrajectory(invMap1, invMap2, positions):
622 floorPositions = npfloor(positions)
623 #ceilPositions = npceil(positions)
624 undistortedTrajectory = [[],[]]
625 for i in xrange(len(positions[0])):
626 x,y = None, None
627 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
628 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
629 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
630 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
631 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
632 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
633 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
634 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
635 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
636 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
637 undistortedTrajectory[0].append(x)
638 undistortedTrajectory[1].append(y)
639 return undistortedTrajectory
640
641 def projectGInputPoints(homography, points):
642 return projectTrajectory(homography, array(points+[points[0]]).T)
643
644 if opencvAvailable: 579 if opencvAvailable:
645 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)): 580 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)):
646 '''Computes the translation of img2 with respect to img1 581 '''Computes the translation of img2 with respect to img1
647 (loaded using OpenCV as numpy arrays) 582 (loaded using OpenCV as numpy arrays)
648 img1Points are used to compute the translation 583 img1Points are used to compute the translation