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comparison python/cvutils.py @ 931:8148991b1dab

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bug correcting
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 13 Jul 2017 00:52:53 -0400
parents 7db0f2853bfd
children 66f382852e61
comparison
equal deleted inserted replaced
930:7db0f2853bfd 931:8148991b1dab
538 reducedPoints = dot(invNewCameraMatrix, projected) 538 reducedPoints = dot(invNewCameraMatrix, projected)
539 else: 539 else:
540 reducedPoints = projected 540 reducedPoints = projected
541 projected, jacobian = cv2.projectPoints(reducedPoints.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN 541 projected, jacobian = cv2.projectPoints(reducedPoints.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
542 projected = projected.reshape(-1,2).T 542 projected = projected.reshape(-1,2).T
543 return projected[:2,:] 543 return projected[:2,:]
544 544
545 def project(homography, p, intrinsicCameraMatrix = None, distortionCoefficients = None): 545 def project(homography, p, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
546 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1] 546 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
547 through homography''' 547 through homography'''
548 return projectArray(homography, array([[p[0]],[p[1]]]), intrinsicCameraMatrix, distortionCoefficients) 548 return projectArray(homography, array([[p[0]],[p[1]]]), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix)
549 549
550 def projectTrajectory(homography, trajectory, intrinsicCameraMatrix = None, distortionCoefficients = None): 550 def projectTrajectory(homography, trajectory, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
551 '''Projects a series of points in the format 551 '''Projects a series of points in the format
552 [[x1, x2, ...], 552 [[x1, x2, ...],
553 [y1, y2, ...]]''' 553 [y1, y2, ...]]'''
554 return projectArray(homography, array(trajectory), intrinsicCameraMatrix, distortionCoefficients) 554 return projectArray(homography, array(trajectory), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix)
555 555
556 def invertHomography(homography): 556 def invertHomography(homography):
557 '''Returns an inverted homography 557 '''Returns an inverted homography
558 Unnecessary for reprojection over camera image''' 558 Unnecessary for reprojection over camera image'''
559 invH = inv(homography) 559 invH = inv(homography)