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comparison python/tests/cvutils.txt @ 930:7db0f2853bfd

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corrected projection back to image space
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 13 Jul 2017 00:31:54 -0400
parents be28a3538dc9
children 66f382852e61
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929:be28a3538dc9 930:7db0f2853bfd
1 >>> import cv2, cvutils 1 >>> import cv2, cvutils
2 >>> from numpy import array, round, ones 2 >>> from numpy import array, round, ones, dot, linalg, absolute
3 >>> img = cv2.imread("../samples/val-dor-117-111.png") 3 >>> img = cv2.imread("../samples/val-dor-117-111.png")
4 >>> width = img.shape[1] 4 >>> width = img.shape[1]
5 >>> height = img.shape[0] 5 >>> height = img.shape[0]
6 >>> intrinsicCameraMatrix = array([[ 377.42, 0. , 639.12], [ 0. , 378.43, 490.2 ], [ 0. , 0. , 1. ]]) 6 >>> intrinsicCameraMatrix = array([[ 377.42, 0. , 639.12], [ 0. , 378.43, 490.2 ], [ 0. , 0. , 1. ]])
7 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816]) 7 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.])
8 >>> distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.])
9 >>> multiplicationFactor = 1.31 8 >>> multiplicationFactor = 1.31
10 >>> [map1, map2] = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients) 9 >>> [map1, map2] = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients)
11 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) 10 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
12 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all() 11 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all()
13 True 12 True
14 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]]) 13 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]])
15 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True) 14 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True)
16 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2) 15 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2)
16 >>> invNewCameraMatrix = linalg.inv(newCameraMatrix)
17 >>> tmp = ones((imgPoints[0].shape[0], 3)) 17 >>> tmp = ones((imgPoints[0].shape[0], 3))
18 >>> tmp[:,:2] = undistortedPoints 18 >>> tmp[:,:2] = undistortedPoints
19 >>> origPoints = cv2.projectPoints(tmp, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2) 19 >>> reducedPoints = dot(invNewCameraMatrix, tmp.T).T
20 >>> origPoints = cv2.projectPoints(reducedPoints, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2)
21 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
22 True
23 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
24 True
25 >>> origPoints = cvutils.projectArray(None, undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix).T
26 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
27 True
28 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
29 True