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comparison trafficintelligence/tests/cvutils.txt @ 1028:cc5cb04b04b0

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major update using the trafficintelligence package name and install through pip
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 15 Jun 2018 11:19:10 -0400
parents python/tests/cvutils.txt@8ac7f61c6e4f
children aafbc0bab925
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1027:6129296848d3 1028:cc5cb04b04b0
1 >>> import cv2, cvutils
2 >>> from numpy import array, round, ones, dot, linalg, absolute
3 >>> img = cv2.imread("../samples/val-dor-117-111.png")
4 >>> width = img.shape[1]
5 >>> height = img.shape[0]
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.])
8 >>> multiplicationFactor = 1.31
9 >>> [map1, map2], tmp = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients)
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()
12 True
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)
15 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2) # undistort and project as if seen by new camera
16 >>> invNewCameraMatrix = linalg.inv(newCameraMatrix)
17 >>> tmp = ones((imgPoints[0].shape[0], 3))
18 >>> tmp[:,:2] = undistortedPoints
19 >>> reducedPoints = dot(invNewCameraMatrix, tmp.T).T
20 >>> origPoints = cv2.projectPoints(reducedPoints, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2)
21 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
22 True
23 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
24 True
25 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix)
26 >>> (reducedPoints == reducedPoints).all()
27 True
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
34 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points
35 >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T
36 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
37 True
38 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
39 True
40
41 >>> undistortedPoints = cvutils.imageToWorldProject(imgPoints[0].T, intrinsicCameraMatrix, distortionCoefficients)
42 >>> origPoints = cvutils.worldToImageProject(undistortedPoints, intrinsicCameraMatrix, distortionCoefficients).T
43 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
44 True
45 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
46 True