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comparison python/cvutils.py @ 638:852f5de42d01

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added functionality to read Aliaksei Tsai camera model data
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 08 Apr 2015 16:07:15 +0200
parents 3058e00887bc
children 4e7925cb4f8f
comparison
equal deleted inserted replaced
637:c9a0b72979fd 638:852f5de42d01
275 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) 275 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
276 cv2.destroyAllWindows() 276 cv2.destroyAllWindows()
277 else: 277 else:
278 print 'Cannot load file ' + videoFilename 278 print 'Cannot load file ' + videoFilename
279 279
280 def computeHomographyFromPDTV(cameraFilename, method=0, ransacReprojThreshold=3.0): 280 def computeHomographyFromPDTV(cameraFilename):
281 '''Returns the homography matrix at ground level from PDTV format 281 '''Returns the homography matrix at ground level from PDTV format
282 https://bitbucket.org/hakanardo/pdtv''' 282 https://bitbucket.org/hakanardo/pdtv'''
283 import pdtv 283 import pdtv
284 from numpy import array 284 from numpy import array
285 camera = pdtv.load(cameraFilename) 285 camera = pdtv.load(cameraFilename)
286 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!! 286 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
287 dstPoints = [] 287 dstPoints = []
288 for srcPoint in srcPoints: 288 for srcPoint in srcPoints:
289 projected = camera.image_to_world(tuple(srcPoint)) 289 projected = camera.image_to_world(tuple(srcPoint))
290 dstPoints.append([projected[0], projected[1]]) 290 dstPoints.append([projected[0], projected[1]])
291 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold) 291 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method = 0) # No need for different methods for finding homography
292 return H 292 return H
293 293
294 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.): 294 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
295 '''Returns the coordinates of a point in undistorted image 295 '''Returns the coordinates of a point in undistorted image
296 map1 and map2 are the mapping functions from undistorted image 296 map1 and map2 are the mapping functions from undistorted image