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view trafficintelligence/tests/cvutils.txt @ 1275:9f1711a85c56
added code to make sure TTC is replaced of recomputed and not having a value
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 19 Jun 2024 16:11:35 -0400 |
parents | aafbc0bab925 |
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>>> from numpy import array, round, ones, dot, linalg, absolute >>> import cv2 >>> from trafficintelligence import cvutils >>> 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.]) >>> multiplicationFactor = 1.31 >>> [map1, map2], tmp = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients) >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all() True >>> 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) # undistort and project as if seen by new camera >>> invNewCameraMatrix = linalg.inv(newCameraMatrix) >>> tmp = ones((imgPoints[0].shape[0], 3)) >>> tmp[:,:2] = undistortedPoints >>> 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 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix) >>> (reducedPoints == reducedPoints).all() True >>> undistortedPoints2 = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort and project as if seen by new camera >>> undistortedPoints2 = cvutils.newCameraProject(undistortedPoints2.T, newCameraMatrix) >>> (undistortedPoints == undistortedPoints2.T).all() True >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() True >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. True >>> undistortedPoints = cvutils.imageToWorldProject(imgPoints[0].T, intrinsicCameraMatrix, distortionCoefficients) >>> origPoints = cvutils.worldToImageProject(undistortedPoints, intrinsicCameraMatrix, distortionCoefficients).T >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() True >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. True