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comparison scripts/compute-homography.py @ 933:8ac7f61c6e4f

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major rework of homography calibration, no in ideal points if correcting for distortion
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jul 2017 02:11:21 -0400
parents f5a49b603e8b
children 39691b460fca
comparison
equal deleted inserted replaced
932:66f382852e61 933:8ac7f61c6e4f
34 parser.add_argument('--undistort', dest = 'undistort', help = 'undistort the video (because features have been extracted that way', action = 'store_true') 34 parser.add_argument('--undistort', dest = 'undistort', help = 'undistort the video (because features have been extracted that way', action = 'store_true')
35 parser.add_argument('--save', dest = 'saveImages', help = 'save the undistorted video frame (display option must be chosen)', action = 'store_true') 35 parser.add_argument('--save', dest = 'saveImages', help = 'save the undistorted video frame (display option must be chosen)', action = 'store_true')
36 36
37 args = parser.parse_args() 37 args = parser.parse_args()
38 38
39 # TODO process camera intrinsic and extrinsic parameters to obtain image to world homography, taking example from Work/src/python/generate-homography.py script
40 # cameraMat = load(videoFilenamePrefix+'-camera.txt');
41 # T1 = cameraMat[3:6,:].copy();
42 # A = cameraMat[0:3,0:3].copy();
43
44 # # pay attention, rotation may be the transpose
45 # # R = T1[:,0:3].T;
46 # R = T1[:,0:3];
47 # rT = dot(R, T1[:,3]/1000);
48 # T = zeros((3,4),'f');
49 # T[:,0:3] = R[:];
50 # T[:,3] = rT;
51
52 # AT = dot(A,T);
53
54 # nPoints = 4;
55 # worldPoints = cvCreateMat(nPoints, 3, CV_64FC1);
56 # imagePoints = cvCreateMat(nPoints, 3, CV_64FC1);
57
58 # # extract homography from the camera calibration
59 # worldPoints = cvCreateMat(4, 3, CV_64FC1);
60 # imagePoints = cvCreateMat(4, 3, CV_64FC1);
61
62 # worldPoints[0,:] = [[1, 1, 0]];
63 # worldPoints[1,:] = [[1, 2, 0]];
64 # worldPoints[2,:] = [[2, 1, 0]];
65 # worldPoints[3,:] = [[2, 2, 0]];
66
67 # wPoints = [[1,1,2,2],
68 # [1,2,1,2],
69 # [0,0,0,0]];
70 # iPoints = utils.worldToImage(AT, wPoints);
71
72 # for i in range(nPoints):
73 # imagePoints[i,:] = [iPoints[:,i].tolist()];
74
75 # H = cvCreateMat(3, 3, CV_64FC1);
76
77 # cvFindHomography(imagePoints, worldPoints, H);
78
79
80 homography = np.array([]) 39 homography = np.array([])
81 if args.pointCorrespondencesFilename is not None: 40 if args.pointCorrespondencesFilename is not None:
82 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename) 41 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename)
83 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3 42 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
84 elif args.tsaiCameraFilename is not None: # hack using PDTV 43 elif args.tsaiCameraFilename is not None: # hack using PDTV
88 homography = cvutils.computeHomographyFromPDTV(camera) 47 homography = cvutils.computeHomographyFromPDTV(camera)
89 elif args.videoFrameFilename is not None and args.worldFilename is not None: 48 elif args.videoFrameFilename is not None and args.worldFilename is not None:
90 worldImg = plt.imread(args.worldFilename) 49 worldImg = plt.imread(args.worldFilename)
91 videoImg = plt.imread(args.videoFrameFilename) 50 videoImg = plt.imread(args.videoFrameFilename)
92 if args.undistort: 51 if args.undistort:
93 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients) 52 [map1, map2], newCameraMatrix = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
94 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR) 53 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
95 print('Click on {} points in the video frame'.format(args.nPoints)) 54 print('Click on {} points in the video frame'.format(args.nPoints))
96 plt.figure() 55 plt.figure()
97 plt.imshow(videoImg) 56 plt.imshow(videoImg)
98 plt.tight_layout() 57 plt.tight_layout()
99 videoPts = np.array(plt.ginput(args.nPoints, timeout=3000)) 58 videoPts = np.array(plt.ginput(args.nPoints, timeout=3000))
59 if args.undistort:
60 videoPts = cvutils.newCameraProject(videoPts, np.linalg.inv(newCameraMatrix))
100 print('Click on {} points in the world image'.format(args.nPoints)) 61 print('Click on {} points in the world image'.format(args.nPoints))
101 plt.figure() 62 plt.figure()
102 plt.imshow(worldImg) 63 plt.imshow(worldImg)
103 plt.tight_layout() 64 plt.tight_layout()
104 worldPts = args.unitsPerPixel*np.array(plt.ginput(args.nPoints, timeout=3000)) 65 worldPts = args.unitsPerPixel*np.array(plt.ginput(args.nPoints, timeout=3000))
115 76
116 if args.displayPoints and args.videoFrameFilename is not None and args.worldFilename is not None and homography.size>0 and args.tsaiCameraFilename is None: 77 if args.displayPoints and args.videoFrameFilename is not None and args.worldFilename is not None and homography.size>0 and args.tsaiCameraFilename is None:
117 worldImg = cv2.imread(args.worldFilename) 78 worldImg = cv2.imread(args.worldFilename)
118 videoImg = cv2.imread(args.videoFrameFilename) 79 videoImg = cv2.imread(args.videoFrameFilename)
119 if args.undistort: 80 if args.undistort:
120 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients) 81 [map1, map2], newCameraMatrix = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
121 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR) 82 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)
122 if args.saveImages: 83 if args.saveImages:
123 cv2.imwrite(utils.removeExtension(args.videoFrameFilename)+'-undistorted.png', videoImg) 84 cv2.imwrite(utils.removeExtension(args.videoFrameFilename)+'-undistorted.png', videoImg)
124 invHomography = np.linalg.inv(homography) 85 invHomography = np.linalg.inv(homography)
125 projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T 86 projectedWorldPts = cvutils.homographyProject(worldPts.T, invHomography).T
126 projectedVideoPts = cvutils.projectArray(homography, videoPts.T).T 87 projectedVideoPts = cvutils.homographyProject(videoPts.T, homography).T
88 if args.undistort:
89 projectedWorldPts = cvutils.newCameraProject(projectedWorldPts.T, newCameraMatrix).T
90 videoPts = cvutils.newCameraProject(videoPts.T, newCameraMatrix).T
127 for i in range(worldPts.shape[0]): 91 for i in range(worldPts.shape[0]):
128 # world image 92 # world image
129 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvBlue['default']) 93 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvBlue['default'])
130 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed['default']) 94 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed['default'])
131 cv2.putText(worldImg, str(i+1), tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))+5), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue['default'], 2) 95 cv2.putText(worldImg, str(i+1), tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))+5), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue['default'], 2)