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comparison python/compute-homography.py @ 217:ba71924cadf5

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added comment/TODO
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 21 Jun 2012 15:18:41 -0400
parents b0719b3ad3db
children 584613399513
comparison
equal deleted inserted replaced
216:51acf43e421a 217:ba71924cadf5
8 import cvutils 8 import cvutils
9 import utils 9 import utils
10 10
11 options, args = getopt.getopt(sys.argv[1:], 'h',['help','video_frame=']) 11 options, args = getopt.getopt(sys.argv[1:], 'h',['help','video_frame='])
12 options = dict(options) 12 options = dict(options)
13
14 # TODO process camera intrinsic and extrinsic parameters to obtain image to world homography, taking example from Work/src/python/generate-homography.py script
15 # cameraMat = load(videoFilenamePrefix+'-camera.txt');
16 # T1 = cameraMat[3:6,:].copy();
17 # A = cameraMat[0:3,0:3].copy();
18
19 # # pay attention, rotation may be the transpose
20 # # R = T1[:,0:3].T;
21 # R = T1[:,0:3];
22 # rT = dot(R, T1[:,3]/1000);
23 # T = zeros((3,4),'f');
24 # T[:,0:3] = R[:];
25 # T[:,3] = rT;
26
27 # AT = dot(A,T);
28
29 # nPoints = 4;
30 # worldPoints = cvCreateMat(nPoints, 3, CV_64FC1);
31 # imagePoints = cvCreateMat(nPoints, 3, CV_64FC1);
32
33 # # extract homography from the camera calibration
34 # worldPoints = cvCreateMat(4, 3, CV_64FC1);
35 # imagePoints = cvCreateMat(4, 3, CV_64FC1);
36
37 # worldPoints[0,:] = [[1, 1, 0]];
38 # worldPoints[1,:] = [[1, 2, 0]];
39 # worldPoints[2,:] = [[2, 1, 0]];
40 # worldPoints[3,:] = [[2, 2, 0]];
41
42 # wPoints = [[1,1,2,2],
43 # [1,2,1,2],
44 # [0,0,0,0]];
45 # iPoints = utils.worldToImage(AT, wPoints);
46
47 # for i in range(nPoints):
48 # imagePoints[i,:] = [iPoints[:,i].tolist()];
49
50 # H = cvCreateMat(3, 3, CV_64FC1);
51
52 # cvFindHomography(imagePoints, worldPoints, H);
53
13 54
14 if '--help' in options.keys() or '-h' in options.keys(): 55 if '--help' in options.keys() or '-h' in options.keys():
15 print('''The argument should be the name of a file containing at least 4 non-colinear point coordinates: 56 print('''The argument should be the name of a file containing at least 4 non-colinear point coordinates:
16 - the first two lines are the x and y coordinates in the projected space (usually world space) 57 - the first two lines are the x and y coordinates in the projected space (usually world space)
17 - the last two lines are the x and y coordinates in the origin space (usually image space)''') 58 - the last two lines are the x and y coordinates in the origin space (usually image space)''')