# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1428577885 -7200
# Node ID 4e7925cb4f8f0ef87ed308593dc484e9f5582026
# Parent  852f5de42d013ab746c0cc28bf660e246a0e61ca
modified tsai camera homography computation to avoid using os dependent temporary files

diff -r 852f5de42d01 -r 4e7925cb4f8f python/cvutils.py
--- a/python/cvutils.py	Wed Apr 08 16:07:15 2015 +0200
+++ b/python/cvutils.py	Thu Apr 09 13:11:25 2015 +0200
@@ -277,12 +277,11 @@
         else:
             print 'Cannot load file ' + videoFilename
 
-    def computeHomographyFromPDTV(cameraFilename):
-        '''Returns the homography matrix at ground level from PDTV format
+    def computeHomographyFromPDTV(camera):
+        '''Returns the homography matrix at ground level from PDTV camera
         https://bitbucket.org/hakanardo/pdtv'''
-        import pdtv
         from numpy import array
-        camera = pdtv.load(cameraFilename)
+        # camera = pdtv.load(cameraFilename)
         srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
         dstPoints = []
         for srcPoint in srcPoints:
@@ -423,6 +422,7 @@
         raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
 
     if (homography is not None) and homography.size>0:
+        #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
         augmentedPoints = append(points,[[1]*points.shape[1]], 0)
         prod = dot(homography, augmentedPoints)
         return prod[0:2]/prod[2]
diff -r 852f5de42d01 -r 4e7925cb4f8f scripts/compute-homography.py
--- a/scripts/compute-homography.py	Wed Apr 08 16:07:15 2015 +0200
+++ b/scripts/compute-homography.py	Thu Apr 09 13:11:25 2015 +0200
@@ -81,15 +81,16 @@
     worldPts, videoPts = cvutils.loadPointCorrespondences(args.pointCorrespondencesFilename)
     homography, mask = cv2.findHomography(videoPts, worldPts) # method=0, ransacReprojThreshold=3
 elif args.tsaiCameraFilename is not None: # hack using PDTV
+    from StringIO import StringIO
+    from pdtv import TsaiCamera
+    import yaml
     f = storage.openCheck(args.tsaiCameraFilename, quitting = True)
     content = storage.getLines(f)
-    outFilename = '/tmp/camera.yaml'
-    out = storage.openCheck(outFilename, 'w')
-    out.write('data_class: TsaiCamera\n')
-    for l in content:
-        out.write(l.replace(' f:', 'f:').replace(' k:', 'k:').replace(',','.')+'\n')
-    out.close()
-    homography = cvutils.computeHomographyFromPDTV(outFilename)
+    #out.write('data_class: TsaiCamera\n')
+    yamlContent = ''.join([l.replace(' f:', 'f:').replace(' k:', 'k:').replace(',','.')+'\n' for l in content])
+    cameraData = yaml.load(StringIO(yamlContent))
+    camera = TsaiCamera(Cx=cameraData['Cx'], Cy=cameraData['Cy'], Sx=cameraData['Sx'], Tx=cameraData['Tx'], Ty=cameraData['Ty'], Tz=cameraData['Tz'], dx=cameraData['dx'], dy=cameraData['dy'], f=cameraData['f'], k=cameraData['k'], r1=cameraData['r1'], r2=cameraData['r2'], r3=cameraData['r3'], r4=cameraData['r4'], r5=cameraData['r5'], r6=cameraData['r6'], r7=cameraData['r7'], r8=cameraData['r8'], r9=cameraData['r9'])
+    homography = cvutils.computeHomographyFromPDTV(camera)
 elif args.videoFrameFilename is not None and args.worldFilename is not None:
     worldImg = plt.imread(args.worldFilename)
     videoImg = plt.imread(args.videoFrameFilename)