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comparison python/cvutils.py @ 472:a50c026fdf14

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functions to compute inverse mapping
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 12 Mar 2014 17:36:49 -0400
parents 5304299e53a5
children 178c69ba2970
comparison
equal deleted inserted replaced
471:a8f95bbd79bc 472:a50c026fdf14
263 projected = camera.image_to_world(tuple(srcPoint)) 263 projected = camera.image_to_world(tuple(srcPoint))
264 dstPoints.append([projected[0], projected[1]]) 264 dstPoints.append([projected[0], projected[1]])
265 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold) 265 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold)
266 return H 266 return H
267 267
268 def correctedCoordinates(x,y, map1, map2): 268 def correctedCoordinates(x,y, map1, map2, maxDistance = 1.):
269 '''Returns the coordinates of a point in undistorted image 269 '''Returns the coordinates of a point in undistorted image
270 map1 and map2 are the mapping functions from undistorted image 270 map1 and map2 are the mapping functions from undistorted image
271 to distorted (original image) 271 to distorted (original image)
272 map1(x,y) = originalx, originaly''' 272 map1(x,y) = originalx, originaly'''
273 from numpy import abs, logical_and, unravel_index, dot, sum 273 from numpy import abs, logical_and, unravel_index, dot, sum
274 from matplotlib.mlab import find 274 from matplotlib.mlab import find
275 distx = abs(map1-x) 275 distx = abs(map1-x)
276 disty = abs(map2-y) 276 disty = abs(map2-y)
277 indices = logical_and(distx<1, disty<1) 277 indices = logical_and(distx<maxDistance, disty<maxDistance)
278 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x 278 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x
279 xWeights = 1-distx[indices] 279 xWeights = 1-distx[indices]
280 yWeights = 1-disty[indices] 280 yWeights = 1-disty[indices]
281 return dot(xWeights, closeCoordinates[1])/sum(xWeights), dot(yWeights, closeCoordinates[0])/sum(yWeights) 281 return dot(xWeights, closeCoordinates[1])/sum(xWeights), dot(yWeights, closeCoordinates[0])/sum(yWeights)
282 282
283 283 def computeInverseMapping(originalImageSize, map1, map2):
284 'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap'
285 from numpy import ones, isnan
286 invMap1 = -ones(originalImageSize)
287 invMap2 = -ones(originalImageSize)
288 for x in range(0,originalImageSize[1]):
289 for y in range(0,originalImageSize[0]):
290 res = cvutils.correctedCoordinates(x,y, map1, map2)
291 if not isnan(res).any():
292 invMap1[y,x] = res[0]
293 invMap2[y,x] = res[1]
294 return invMap1, invMap2
295
284 def printCvMat(cvmat, out = stdout): 296 def printCvMat(cvmat, out = stdout):
285 '''Prints the cvmat to out''' 297 '''Prints the cvmat to out'''
286 print('Deprecated, use new interface') 298 print('Deprecated, use new interface')
287 for i in xrange(cvmat.rows): 299 for i in xrange(cvmat.rows):
288 for j in xrange(cvmat.cols): 300 for j in xrange(cvmat.cols):