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comparison scripts/compute-homography.py @ 478:d337bffd7283

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Display of points in compute homography and step option to replay videos A bug seems to remain with respect to trajectory bounds, to check
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 27 Mar 2014 11:40:28 -0400
parents 6551a3cf1750
children b0dac840c24f
comparison
equal deleted inserted replaced
477:ed4166b0ba9d 478:d337bffd7283
94 94
95 if homography.size>0: 95 if homography.size>0:
96 np.savetxt('homography.txt',homography) 96 np.savetxt('homography.txt',homography)
97 97
98 if args.displayPoints and args.videoFrameFilename != None and args.worldFilename != None and homography.size>0: 98 if args.displayPoints and args.videoFrameFilename != None and args.worldFilename != None and homography.size>0:
99 worldImg = plt.imread(args.worldFilename) 99 worldImg = cv2.imread(args.worldFilename)
100 videoImg = plt.imread(args.videoFrameFilename) 100 videoImg = cv2.imread(args.videoFrameFilename)
101 invHomography = np.linalg.inv(homography) 101 invHomography = np.linalg.inv(homography)
102 projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T 102 projectedWorldPts = cvutils.projectArray(invHomography, worldPts.T).T
103 projectedVideoPts = cvutils.projectArray(invHomography, videoPts.T).T 103 projectedVideoPts = cvutils.projectArray(homography, videoPts.T).T
104 for i in range(worldPts.shape[0]): 104 for i in range(worldPts.shape[0]):
105 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvRed) 105 # world image
106 cv2.circle(worldImg,tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))),2,cvutils.cvBlue)
106 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed) 107 cv2.circle(worldImg,tuple(np.int32(np.round(projectedVideoPts[i]/args.unitsPerPixel))),2,cvutils.cvRed)
107 # TODO print numbers and in image space 108 cv2.putText(worldImg, str(i+1), tuple(np.int32(np.round(worldPts[i]/args.unitsPerPixel))+5), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue, 2)
109 # video image
110 cv2.circle(videoImg,tuple(np.int32(np.round(videoPts[i]))),2,cvutils.cvBlue)
111 cv2.circle(videoImg,tuple(np.int32(np.round(projectedWorldPts[i]))),2,cvutils.cvRed)
112 cv2.putText(videoImg, str(i+1), tuple(np.int32(np.round(videoPts[i])+5)), cv2.FONT_HERSHEY_PLAIN, 2., cvutils.cvBlue, 2)
108 cv2.imshow('video frame',videoImg) 113 cv2.imshow('video frame',videoImg)
109 #cv2.imshow('world image',worldImg) 114 cv2.imshow('world image',worldImg)
110 cv2.waitKey() 115 cv2.waitKey()
111 cv2.destroyAllWindows() 116 cv2.destroyAllWindows()