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comparison python/tests/cvutils.txt @ 933:8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 14 Jul 2017 02:11:21 -0400 |
parents | 66f382852e61 |
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932:66f382852e61 | 933:8ac7f61c6e4f |
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4 >>> width = img.shape[1] | 4 >>> width = img.shape[1] |
5 >>> height = img.shape[0] | 5 >>> height = img.shape[0] |
6 >>> intrinsicCameraMatrix = array([[ 377.42, 0. , 639.12], [ 0. , 378.43, 490.2 ], [ 0. , 0. , 1. ]]) | 6 >>> intrinsicCameraMatrix = array([[ 377.42, 0. , 639.12], [ 0. , 378.43, 490.2 ], [ 0. , 0. , 1. ]]) |
7 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.]) | 7 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.]) |
8 >>> multiplicationFactor = 1.31 | 8 >>> multiplicationFactor = 1.31 |
9 >>> [map1, map2] = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients) | 9 >>> [map1, map2], tmp = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients) |
10 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) | 10 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
11 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all() | 11 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all() |
12 True | 12 True |
13 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]]) | 13 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]]) |
14 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True) | 14 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True) |
24 True | 24 True |
25 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix) | 25 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix) |
26 >>> (reducedPoints == reducedPoints).all() | 26 >>> (reducedPoints == reducedPoints).all() |
27 True | 27 True |
28 | 28 |
29 >>> undistortedPoints2 = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort and project as if seen by new camera | |
30 >>> undistortedPoints2 = cvutils.newCameraProject(undistortedPoints2.T, newCameraMatrix) | |
31 >>> (undistortedPoints == undistortedPoints2.T).all() | |
32 True | |
33 | |
29 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points | 34 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points |
30 >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T | 35 >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T |
31 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() | 36 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() |
32 True | 37 True |
33 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. | 38 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. |