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comparison scripts/compute-homography.py @ 638:852f5de42d01

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added functionality to read Aliaksei Tsai camera model data
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 08 Apr 2015 16:07:15 +0200
parents 3058e00887bc
children 4e7925cb4f8f
comparison
equal deleted inserted replaced
637:c9a0b72979fd 638:852f5de42d01
4 4
5 import matplotlib.pyplot as plt 5 import matplotlib.pyplot as plt
6 import numpy as np 6 import numpy as np
7 import cv2 7 import cv2
8 8
9 import cvutils 9 import cvutils, utils, storage
10 import utils 10
11 # TODO add option to use RANSAC or other robust homography estimation method?
11 12
12 parser = argparse.ArgumentParser(description='The program computes the homography matrix from at least 4 non-colinear point correspondences inputed in the same order in a video frame and a aerial photo/ground map, or from the list of corresponding points in the two planes.', epilog = '''The point correspondence file contains at least 4 non-colinear point coordinates 13 parser = argparse.ArgumentParser(description='The program computes the homography matrix from at least 4 non-colinear point correspondences inputed in the same order in a video frame and a aerial photo/ground map, or from the list of corresponding points in the two planes.', epilog = '''The point correspondence file contains at least 4 non-colinear point coordinates
13 with the following format: 14 with the following format:
14 - the first two lines are the x and y coordinates in the projected space (usually world space) 15 - the first two lines are the x and y coordinates in the projected space (usually world space)
15 - the last two lines are the x and y coordinates in the origin space (usually image space) 16 - the last two lines are the x and y coordinates in the origin space (usually image space)
18 and a ration to convert pixels to world distance unit (eg meters per pixel), 19 and a ration to convert pixels to world distance unit (eg meters per pixel),
19 the images will be shown in turn and the user should click 20 the images will be shown in turn and the user should click
20 in the same order the corresponding points in world and image spaces.''', formatter_class=argparse.RawDescriptionHelpFormatter) 21 in the same order the corresponding points in world and image spaces.''', formatter_class=argparse.RawDescriptionHelpFormatter)
21 22
22 parser.add_argument('-p', dest = 'pointCorrespondencesFilename', help = 'name of the text file containing the point correspondences') 23 parser.add_argument('-p', dest = 'pointCorrespondencesFilename', help = 'name of the text file containing the point correspondences')
24 parser.add_argument('--tsai', dest = 'tsaiCameraFilename', help = 'name of the text file containing the camera parameter following the pinhole camera model (Lund format)') # caution, this is Aliaksei's format
23 parser.add_argument('-i', dest = 'videoFrameFilename', help = 'filename of the video frame') 25 parser.add_argument('-i', dest = 'videoFrameFilename', help = 'filename of the video frame')
24 parser.add_argument('-w', dest = 'worldFilename', help = 'filename of the aerial photo/ground map') 26 parser.add_argument('-w', dest = 'worldFilename', help = 'filename of the aerial photo/ground map')
25 parser.add_argument('-n', dest = 'nPoints', help = 'number of corresponding points to input', default = 4, type = int) 27 parser.add_argument('-n', dest = 'nPoints', help = 'number of corresponding points to input', default = 4, type = int)
26 parser.add_argument('-u', dest = 'unitsPerPixel', help = 'number of units per pixel', default = 1., type = float) 28 parser.add_argument('-u', dest = 'unitsPerPixel', help = 'number of units per pixel', default = 1., type = float)
27 parser.add_argument('--display', dest = 'displayPoints', help = 'display original and projected points on both images', action = 'store_true') 29 parser.add_argument('--display', dest = 'displayPoints', help = 'display original and projected points on both images', action = 'store_true')
76 78
77 homography = np.array([]) 79 homography = np.array([])
78 if args.pointCorrespondencesFilename is not None: 80 if args.pointCorrespondencesFilename is not None:
79 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename) 81 worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename)
80 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3 82 homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
83 elif args.tsaiCameraFilename is not None: # hack using PDTV
84 f = storage.openCheck(args.tsaiCameraFilename, quitting = True)
85 content = storage.getLines(f)
86 outFilename = '/tmp/camera.yaml'
87 out = storage.openCheck(outFilename, 'w')
88 out.write('data_class: TsaiCamera\n')
89 for l in content:
90 out.write(l.replace(' f:', 'f:').replace(' k:', 'k:').replace(',','.')+'\n')
91 out.close()
92 homography = cvutils.computeHomographyFromPDTV(outFilename)
81 elif args.videoFrameFilename is not None and args.worldFilename is not None: 93 elif args.videoFrameFilename is not None and args.worldFilename is not None:
82 worldImg = plt.imread(args.worldFilename) 94 worldImg = plt.imread(args.worldFilename)
83 videoImg = plt.imread(args.videoFrameFilename) 95 videoImg = plt.imread(args.videoFrameFilename)
84 if args.undistort: 96 if args.undistort:
85 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients) 97 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
101 f.close() 113 f.close()
102 114
103 if homography.size>0: 115 if homography.size>0:
104 np.savetxt('homography.txt',homography) 116 np.savetxt('homography.txt',homography)
105 117
106 if args.displayPoints and args.videoFrameFilename is not None and args.worldFilename is not None and homography.size>0: 118 if args.displayPoints and args.videoFrameFilename is not None and args.worldFilename is not None and homography.size>0 and args.tsaiCameraFilename is None:
107 worldImg = cv2.imread(args.worldFilename) 119 worldImg = cv2.imread(args.worldFilename)
108 videoImg = cv2.imread(args.videoFrameFilename) 120 videoImg = cv2.imread(args.videoFrameFilename)
109 if args.undistort: 121 if args.undistort:
110 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients) 122 [map1, map2] = cvutils.computeUndistortMaps(videoImg.shape[1], videoImg.shape[0], args.undistortedImageMultiplication, np.loadtxt(args.intrinsicCameraMatrixFilename), args.distortionCoefficients)
111 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR) 123 videoImg = cv2.remap(videoImg, map1, map2, interpolation=cv2.INTER_LINEAR)