Mercurial Hosting > traffic-intelligence
diff python/tests/cvutils.txt @ 930:7db0f2853bfd
corrected projection back to image space
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 13 Jul 2017 00:31:54 -0400 |
parents | be28a3538dc9 |
children | 66f382852e61 |
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--- a/python/tests/cvutils.txt Wed Jul 12 18:00:53 2017 -0400 +++ b/python/tests/cvutils.txt Thu Jul 13 00:31:54 2017 -0400 @@ -1,11 +1,10 @@ >>> import cv2, cvutils ->>> from numpy import array, round, ones +>>> from numpy import array, round, ones, dot, linalg, absolute >>> img = cv2.imread("../samples/val-dor-117-111.png") >>> width = img.shape[1] >>> height = img.shape[0] >>> intrinsicCameraMatrix = array([[ 377.42, 0. , 639.12], [ 0. , 378.43, 490.2 ], [ 0. , 0. , 1. ]]) ->>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816]) ->>> distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.]) +>>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.]) >>> multiplicationFactor = 1.31 >>> [map1, map2] = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients) >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) @@ -14,6 +13,17 @@ >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]]) >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True) >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2) +>>> invNewCameraMatrix = linalg.inv(newCameraMatrix) >>> tmp = ones((imgPoints[0].shape[0], 3)) >>> tmp[:,:2] = undistortedPoints ->>> origPoints = cv2.projectPoints(tmp, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2) +>>> reducedPoints = dot(invNewCameraMatrix, tmp.T).T +>>> origPoints = cv2.projectPoints(reducedPoints, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2) +>>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() +True +>>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. +True +>>> origPoints = cvutils.projectArray(None, undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix).T +>>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() +True +>>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. +True