Mercurial Hosting > traffic-intelligence
changeset 302:9d88a4d97473
corrected bug in compute-homography
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Mon, 18 Mar 2013 23:37:45 -0400 |
| parents | 27f06d28036d |
| children | 514f6b98cd8c |
| files | python/compute-homography.py python/cvutils.py python/traffic_engineering.py |
| diffstat | 3 files changed, 11 insertions(+), 11 deletions(-) [+] |
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--- a/python/compute-homography.py Mon Mar 11 01:07:08 2013 -0400 +++ b/python/compute-homography.py Mon Mar 18 23:37:45 2013 -0400 @@ -71,7 +71,7 @@ homography = np.array([]) if '-p' in options.keys(): - worldPts, videoPts = cvutils.loadPointCorrespondences(args[0]) + worldPts, videoPts = cvutils.loadPointCorrespondences(options['-p']) homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3 elif '-i' in options.keys() and '-w' in options.keys(): nPoints = 4
--- a/python/cvutils.py Mon Mar 11 01:07:08 2013 -0400 +++ b/python/cvutils.py Mon Mar 18 23:37:45 2013 -0400 @@ -59,14 +59,6 @@ points = loadtxt(filename, dtype=float32) return (points[:2,:].T, points[2:,:].T) # (world points, image points) -def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0): - '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' - #cvSrcPoints = arrayToCvMat(srcPoints); - #cvDstPoints = arrayToCvMat(dstPoints); - #H = cv.CreateMat(3, 3, cv.CV_64FC1) - H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) - return H - def cvMatToArray(cvmat): '''Converts an OpenCV CvMat to numpy array.''' from numpy.core.multiarray import zeros @@ -77,6 +69,11 @@ return a if opencvExists: + def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0): + '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' + H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) + return H + def arrayToCvMat(a, t = cv2.cv.CV_64FC1): '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.''' cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
--- a/python/traffic_engineering.py Mon Mar 11 01:07:08 2013 -0400 +++ b/python/traffic_engineering.py Mon Mar 18 23:37:45 2013 -0400 @@ -3,6 +3,8 @@ from math import ceil +import prediction + __metaclass__ = type @@ -11,8 +13,8 @@ ######################### class Vehicle: - 'Generic vehicle class - 1D coordinates for now' + '''Generic vehicle class + 1D coordinates for now''' class PredictedTrajectory1D(prediction.PredictedTrajectory): def __init__(self, initialPosition, initialSpeed, control, maxSpeed = None): self.control = control @@ -159,6 +161,7 @@ self.equivalents = equivalents self.nLanes = nLanes # unused else: + print('Proportions do not sum to 1') pass def getPCUVolume(self):