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comparison python/cvutils.py @ 932:66f382852e61

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added new projection functions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jul 2017 00:12:03 -0400
parents 8148991b1dab
children 8ac7f61c6e4f
comparison
equal deleted inserted replaced
931:8148991b1dab 932:66f382852e61
517 for i in xrange(cvmat.rows): 517 for i in xrange(cvmat.rows):
518 for j in xrange(cvmat.cols): 518 for j in xrange(cvmat.cols):
519 out.write('{0} '.format(cvmat[i,j])) 519 out.write('{0} '.format(cvmat[i,j]))
520 out.write('\n') 520 out.write('\n')
521 521
522 def homographyProject(points, homography, output3D = False):
523 '''Returns the coordinates of the points (2xN array) projected through homography'''
524 if points.shape[0] != 2:
525 raise Exception('points of dimension {}'.format(points.shape))
526
527 if homography is not None and homography.size>0:
528 if output3D:
529 outputDim = 3
530 else:
531 outputDim = 2
532 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
533 prod = dot(homography, augmentedPoints)
534 return prod[:outputDim,:]/prod[2]
535 elif output3D:
536 return append(points,[[1]*points.shape[1]], 0) # 3xN
537 else:
538 return points
539
540 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
541 '''Projects points (2xN array) from image (video) space to world space
542 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
543 2. through homograph projection (from ideal point (no camera) to world)'''
544 if points.shape[0] != 2:
545 raise Exception('points of dimension {}'.format(points.shape))
546
547 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
548 undistortedPoints = cv2.undistortPoints(points.T.reshape(1,points.shape[1], 2), intrinsicCameraMatrix, distortionCoefficients).reshape(-1,2)
549 return homographyProject(undistortedPoints.T, homography)
550 else:
551 return homographyProject(points, homography)
552
553 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
554 '''Projects points (2xN array) from image (video) space to world space
555 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
556 2. through homograph projection (from ideal point (no camera) to world)'''
557 if points.shape[0] != 2:
558 raise Exception('points of dimension {}'.format(points.shape))
559
560 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
561 projected3D = homographyProject(points, homography, True)
562 projected, jacobian = cv2.projectPoints(projected3D.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
563 return projected.reshape(-1,2).T
564 else:
565 return homographyProject(points, homography)
566
567 def newCameraProject(points, newCameraMatrix):
568 '''Projects points (2xN array) as if seen by camera
569 (or reverse by inverting the camera matrix)'''
570 if points.shape[0] != 2:
571 raise Exception('points of dimension {}'.format(points.shape))
572
573 if newCameraMatrix is not None:
574 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
575 projected = dot(newCameraMatrix, augmentedPoints)
576 return projected[:2,:]
577 else:
578 return points
579
522 def projectArray(homography, points, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None): 580 def projectArray(homography, points, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
523 '''Returns the coordinates of the projected points through homography 581 '''Returns the coordinates of the projected points through homography
524 (format: array 2xN points)''' 582 (format: array 2xN points)'''
525 if points.shape[0] != 2: 583 if points.shape[0] != 2:
526 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1])) 584 raise Exception('points of dimension {}'.format(points.shape))
527 585
528 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN 586 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
529 if homography is not None and homography.size>0: 587 if homography is not None and homography.size>0:
530 prod = dot(homography, augmentedPoints) 588 prod = dot(homography, augmentedPoints)
531 projected = prod/prod[2] 589 projected = prod/prod[2]