--- a/python/calibration-translation.py	Thu Sep 08 19:25:02 2011 -0400
+++ b/python/calibration-translation.py	Fri Sep 09 19:23:11 2011 -0400
@@ -13,10 +13,11 @@
 # development for the data collected and stabilized by Paul in Summer 2011
 # todo test other features
 
-options = utils.parseCLIOptions('Program to re-calibrate an initial calibration based on point correspondences by adjusting the points to slightly different viewpoints, where all the points are still visible\n\nUsage: ', ['ref_video=', 'ref_homography=', 'ref_points='], sys.argv, ['mask_img='])
+options = utils.parseCLIOptions('Program to re-calibrate an initial calibration based on point correspondences by adjusting the points to slightly different viewpoints, where all the points are still visible\n\nUsage: ', ['ref_video=', 'ref_points='], sys.argv, ['mask_img='])
+#, 'ref_homography='
 
 referenceVideoFilename=options['--ref_video']#'1440-1459_Mercalli.avi'
-referenceHomographyFilename=options['--ref_homography']#'1440-1459_Mercalli-homography.txt'
+#referenceHomographyFilename=options['--ref_homography']#'1440-1459_Mercalli-homography.txt'
 points = np.loadtxt(options['--ref_points'], dtype=np.float32) # '1440-1459_Mercalli-point-correspondences.txt'
 wldPts = points[:2,:].T
 imgPts = points[2:,:].T
@@ -30,10 +31,10 @@
 
 filenames = [f for f in utils.listfiles('.','avi')] # directory to examine should be current directory
 
-referenceHomography = np.loadtxt(referenceHomographyFilename)
+#referenceHomography = np.loadtxt(referenceHomographyFilename)
 referenceVideoIndex = filenames.index(referenceVideoFilename)
-indices = set(range(len(filenames)))
-indices.discard(referenceVideoIndex)
+indices = set([1, 2, 3, 4, 5, 6, 7, 9, 10, 11])#set(range(len(filenames)))
+#indices.discard(referenceVideoIndex)
 
 images = {}
 #features = {}
@@ -55,9 +56,10 @@
     cv2.putText(displayRef, str(j+1), tuple(p), cv2.FONT_HERSHEY_PLAIN, 1, (255,0,0))
 cv2.imshow('Reference',displayRef)
 
-key = -1
 for f in filenames: # get suitable image references for each video
     captures[f] = cv2.VideoCapture(f)
+    # TODO if frame image already exists, no need to search for it again
+    key = -1
     while key != cvutils.cvKeyNumbers['y']:
         (ret, img) = captures[f].read()
         cv2.imshow('Image',img)
@@ -65,7 +67,7 @@
         key = cv2.waitKey(0)
 
     images[f] = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
-    cv2.imwrite(utils.removeExtension(filenames[i])+'-frame.png')
+    cv2.imwrite(utils.removeExtension(f)+'-frame.png', img)
     #images[f] = cv2.imread(f, cv2.CV_LOAD_IMAGE_GRAYSCALE)
     #features[f] = cv2.goodFeaturesToTrack(images[f], 1000, 0.02, 2, useHarrisDetector = True, mask=maskImg) # todo put parameters on the command line ? 
     # goodFeaturesToTrack(image, maxCorners, qualityLevel, minDistance[, corners[, mask[, blockSize[, useHarrisDetector[, k]]]]])
@@ -89,11 +91,11 @@
             cv2.circle(displayImg, tuple(p+t[0]), 3, (255,0,0))
         cv2.imshow('Image',displayImg)
 
-        while key != cvutils.cvKeyNumbers['y'] and key != cvutils.cvKeyNumbers['n']:
+        while not(key == cvutils.cvKeyNumbers['y'] or key == cvutils.cvKeyNumbers['n']):
             print('Are the translated points rightly located (y/n)?')
             key = cv2.waitKey(0)
         if key == cvutils.cvKeyNumbers['y']: # compute homography with translated numbers
-            newImgPts = [p+t[0] for p in imgPts]
+            newImgPts = np.array([p+t[0] for p in imgPts])
     else:
         print('No translation could be found automatically. You will have to manually input world reference points.')
 
@@ -111,6 +113,6 @@
     homography, mask = cv2.findHomography(newImgPts, wldPts) # method=0, ransacReprojThreshold=3
     print homography
     np.savetxt(utils.removeExtension(filenames[i])+'-homography.txt',homography)
-    np.savetxt(utils.removeExtension(filenames[i])+'-point-correspondences.txt', append(wldPts.T, newImgPts.T, axis=0))
+    np.savetxt(utils.removeExtension(filenames[i])+'-point-correspondences.txt', np.append(wldPts.T, newImgPts.T, axis=0))
 
 cv2.destroyAllWindows()