def gen_pairwise_surf_control_points(proj_file, img_fns, display=False):
""" Use OpenCV for pairwaise image matching
cf. <opencv samples dir>/find_obj.py
"""
# get the kps of the first frame
img1, kp1, ds1 = get_surf_kps(img_fns[0])
# match the frame t with t+1
cpoints = []
for i2 in range(1, len(img_fns)):
# get the kps of frame t+1
img2, kp2, ds2 = get_surf_kps(img_fns[i2])
# get the control points
cp1, cp2 = get_pairwise_matches(kp1, ds1, kp2, ds2)
# estimate the homography
H, mask = cv2.findHomography(cp1, cp2, cv2.RANSAC)
mask = mask.squeeze() > 0
# display the matches and homography
if display:
hom_warp_image(img1, cp1, img2, cp2, H, mask)
# filter out the outlier matches
cp1 = cp1[mask]
cp2 = cp2[mask]
# add the control points
cpoints.extend([hsi.ControlPoint(i2 - 1, x1, y1, i2, x2, y2)
for (x1, y1), (x2, y2) in zip(cp1, cp2)])
# next -> cur
img1, kp1, ds1 = img2, kp2, ds2
# write to pto
pano = hsi.Panorama()
pano.readData(hsi.ifstream(proj_file))
pano.setCtrlPoints(cpoints)
pano.writeData(hsi.ofstream(proj_file))
def gen_pairwise_surf_control_points(proj_file, img_fns, display=False):
""" Use OpenCV for pairwise image matching
"""
# get the kps of the first frame
img1, kp1, ds1 = get_surf_kps(img_fns[0])
# match the frame t with t+1
cpoints = []
for i2 in range(1, len(img_fns)):
# get the kps of frame t+1
img2, kp2, ds2 = get_surf_kps(img_fns[i2])
# get the control points
cp1, cp2 = get_pairwise_matches(kp1, ds1, kp2, ds2)
# estimate the homography
H, mask = cv2.findHomography(cp1, cp2, cv2.RANSAC)
mask = mask.squeeze() > 0
# display the matches and homography
if display:
homo_warp_image(img1, cp1, img2, cp2, H, mask)
# filter out the outlier matches
cp1 = cp1[mask]
cp2 = cp2[mask]
# add the control points
cpoints.extend([
hsi.ControlPoint(i2 - 1, x1, y1, i2, x2, y2)
for (x1, y1), (x2, y2) in zip(cp1, cp2)
])
# next -> cur
img1, kp1, ds1 = img2, kp2, ds2
# write to pto
pano = hsi.Panorama()
pano.readData(hsi.ifstream(proj_file))
pano.setCtrlPoints(cpoints)
pano.writeData(hsi.ofstream(proj_file))
def writePTO(self, fajlnev=""):
#print inspect.stack()[0][3]
if ("" == fajlnev):
fajlnev = self.pto
ofs = hsi.ofstream(fajlnev)
self.p.writeData(ofs)
del ofs
def writePTO(self, fajlnev=""):
#print inspect.stack()[0][3]
if ("" == fajlnev):
fajlnev = self.pto
ofs=hsi.ofstream(fajlnev)
self.p.writeData(ofs)
del ofs
def main():
# when called from the command line, we import the argparse module.
# This may not be part of the standard library on your system.
import argparse
# and create an argument parser.
parser = argparse.ArgumentParser(
formatter_class=argparse.RawDescriptionHelpFormatter,
description=gpl + '''
crop_cp will remove all CPs which are either outside the panorama's ROI
or inside it's ROI if the inside flag is set
''')
parser.add_argument('-o',
'--output',
metavar='<output file>',
default=None,
type=str,
help='write output to a different file')
parser.add_argument('-i',
'--inside',
action='store_true',
default=False,
help='remove CPs inside ROI')
parser.add_argument('input',
metavar='<pto file>',
type=str,
help='pto file to be processed')
if len(sys.argv) < 2:
parser.print_help()
return
# we parse the arguments into a global variable so we can access
# them from everywhere without having to pass them around
global args
args = parser.parse_args()
if args.output:
print('output: ', args.output)
print('ptofile:', args.input)
# first we see if we can open the input file
ifs = hsi.ifstream(args.input)
if not ifs.good():
raise CropCpError('cannot open input file %s' % args.input)
pano = hsi.Panorama()
success = pano.readData(ifs)
del ifs
if success != hsi.DocumentData.SUCCESSFUL:
raise CropCpError('input file %s contains invalid data' % args.input)
# if a separate output file was chosen, we open it now to avoid
# later disappointments
if args.output:
ofs = hsi.ofstream(args.output)
if not ofs.good():
raise CropCpError('cannot open output file %s' % args.output)
# we've checked the args, now we call crop_cps()
crop_cps(pano, args.inside)
# if no different output file was specified, overwrite the input
if not args.output:
ofs = hsi.ofstream(args.input)
if not ofs.good():
raise CropCpError('cannot open file %s for output' % args.input)
success = pano.writeData(ofs)
del ofs
if success != hsi.DocumentData.SUCCESSFUL:
raise CropCpError('error writing pano to %s' % args.input)
# done.
return 0
def pto_gen(img_fns, hfov=50, out_pto="project.pto"):
""" Generate a Hugin .pto project file
Parameters
----------
img_fns: list,
the (ordered) full paths to the video frames
hfov: int, optional, default: 50,
horizontal field of view in degrees
(around 50 is ok for most non-fish-eye cameras)
out_pto: string, optional, default: 'project.pto',
output path to the generated panotools .pto file
Notes
-----
Suitable as input for further tools such as the cpfind control-point generator.
Inspired from pto_gen
(http://hugin.sourceforge.net/docs/html/pto__gen_8cpp-source.html)
but with some hacks to correct the generated m-line in the header.
Uses the Hugin python scripting interface (http://wiki.panotools.org/Hugin_Scripting_Interface)
"""
# projection type: 0 == rectilinear (2 == equirectangular)
projection = 0
assert projection >= 0, "Invalid projection number (%d)" % projection
assert 1 <= hfov <= 360, "Invalid horizontal field of view (%d)" % hfov
# hugin Panorama object
pano = hsi.Panorama()
# add the images in order
for img_fn in img_fns:
src_img = hsi.SrcPanoImage(img_fn)
src_img.setProjection(projection)
src_img.setHFOV(hfov)
src_img.setExifCropFactor(1.0)
pano.addImage(src_img)
# check we added all of them
n_inserted = pano.getNrOfImages()
assert n_inserted == len(img_fns), "Didn't insert all images (%d < %d)" % \
(n_inserted, len(img_fns))
# output the .pto file
pano.writeData(hsi.ofstream(out_pto + '.tmp')) # same as pano.printPanoramaScript(...)
# some bug in header: rewrite it manually (TODO through hsi?)
with open(out_pto + '.tmp', 'r') as tmp_ff:
with open(out_pto, 'w' ) as ff:
# re-write the header
ff.write(tmp_ff.readline())
ff.write(tmp_ff.readline())
# force jpeg for the p-line
p_line = tmp_ff.readline().strip().split()
assert p_line[0] == 'p', "BUG: should be a p-line"
ff.write(' '.join(p_line[:7]) + ' n"JPEG q100"\n')
# remove extra 'f' param in the m-line
# (screws everything up if left here...)
m_line = tmp_ff.readline().strip().split()
assert m_line[0] == 'm', "BUG: should be a m-line"
ff.write(' '.join(m_line[:3]) + ' ' + ' '.join(m_line[4:]) + '\n')
# write all other lines
for l in tmp_ff.readlines():
ff.write(l)
os.remove(out_pto + '.tmp')
print "saved {0}".format(out_pto)
sys.exit ( -14 )
del ifs
# if we're here, the load succeeded and we can finally call
# the plugin
success = hpi_dispatch ( sys.argv[2] , p , *(sys.argv[3:]) )
# KFJ 2011-06-19 changed writeback to True, so that hpi.py
# can be used to execute hugin plugins on the command line
# and the result is written back to the pto file.
writeback = True
if writeback :
ofs = hsi.ofstream ( sys.argv[1] )
if not ofs.good() :
print("failed to open %s" % sys.argv[1])
sys.exit ( -15 )
if p.writeData ( ofs ) != hsi.DocumentData.SUCCESSFUL :
print("failed to write panorama data to %s" % sys.argv[1])
sys.exit ( -16 )
del ofs
sys.exit ( success )
sys.exit(-14)
del ifs
# if we're here, the load succeeded and we can finally call
# the plugin
success = hpi_dispatch(sys.argv[2], p, *(sys.argv[3:]))
# KFJ 2011-06-19 changed writeback to True, so that hpi.py
# can be used to execute hugin plugins on the command line
# and the result is written back to the pto file.
writeback = True
if writeback:
ofs = hsi.ofstream(sys.argv[1])
if not ofs.good():
print("failed to open %s" % sys.argv[1])
sys.exit(-15)
if p.writeData(ofs) != hsi.DocumentData.SUCCESSFUL:
print("failed to write panorama data to %s" % sys.argv[1])
sys.exit(-16)
del ofs
sys.exit(success)
def main() :
# when called from the command line, we import the argparse module.
# This may not be part of the standard library on your system.
import argparse
# and create an argument parser.
parser = argparse.ArgumentParser (
formatter_class=argparse.RawDescriptionHelpFormatter ,
description = gpl + '''
crop_cp will remove all CPs which are either outside the panorama's ROI
or inside it's ROI if the inside flag is set
''' )
parser.add_argument('-o', '--output',
metavar='<output file>',
default = None,
type=str,
help='write output to a different file')
parser.add_argument('-i', '--inside',
action='store_true',
default = False,
help='remove CPs inside ROI')
parser.add_argument('input' ,
metavar = '<pto file>' ,
type = str ,
help = 'pto file to be processed' )
if len ( sys.argv ) < 2 :
parser.print_help()
return
# we parse the arguments into a global variable so we can access
# them from everywhere without having to pass them around
global args
args = parser.parse_args()
if args.output :
print ( 'output: ' , args.output )
print ( 'ptofile:' , args.input )
# first we see if we can open the input file
ifs = hsi.ifstream ( args.input )
if not ifs.good() :
raise CropCpError ( 'cannot open input file %s' % args.input )
pano = hsi.Panorama()
success = pano.readData ( ifs )
del ifs
if success != hsi.DocumentData.SUCCESSFUL :
raise CropCpError ( 'input file %s contains invalid data' % args.input )
# if a separate output file was chosen, we open it now to avoid
# later disappointments
if args.output:
ofs = hsi.ofstream ( args.output )
if not ofs.good() :
raise CropCpError ( 'cannot open output file %s' % args.output )
# we've checked the args, now we call crop_cps()
crop_cps ( pano , args.inside )
# if no different output file was specified, overwrite the input
if not args.output :
ofs = hsi.ofstream ( args.input )
if not ofs.good() :
raise CropCpError ( 'cannot open file %s for output' % args.input )
success = pano.writeData ( ofs )
del ofs
if success != hsi.DocumentData.SUCCESSFUL :
raise CropCpError ( 'error writing pano to %s' % args.input )
# done.
return 0
def pto_gen(img_fns, hfov, out_pto="project.pto"):
""" Generate a Hugin .pto project file
Parameters
----------
img_fns: list,
the (ordered) full paths to the video frames
hfov: int,
horizontal field of view in degrees
(around 50 is ok for most non-fish-eye cameras)
out_pto: string, optional, default: 'project.pto',
output path to the generated panotools .pto file
Notes
-----
Suitable as input for further tools such as the cpfind control-point
generator.
Inspired from pto_gen
(http://hugin.sourceforge.net/docs/html/pto__gen_8cpp-source.html)
but with some hacks to correct the generated m-line in the header.
Uses the Hugin python scripting interface
(http://wiki.panotools.org/Hugin_Scripting_Interface).
"""
# projection type: 0 == rectilinear (2 == equirectangular)
projection = 0
assert projection >= 0, "Invalid projection number (%d)" % projection
assert 1 <= hfov <= 360, "Invalid horizontal field of view (%d)" % hfov
# hugin Panorama object
pano = hsi.Panorama()
# add the images in order
for img_fn in img_fns:
src_img = hsi.SrcPanoImage(img_fn)
src_img.setProjection(projection)
src_img.setHFOV(hfov)
src_img.setExifCropFactor(1.0)
pano.addImage(src_img)
# check we added all of them
n_inserted = pano.getNrOfImages()
assert n_inserted == len(img_fns), "Didn't insert all images (%d < %d)" % \
(n_inserted, len(img_fns))
# output the .pto file
pano.writeData(
hsi.ofstream(out_pto +
'.tmp')) # same as pano.printPanoramaScript(...)
# some bug in header: rewrite it manually (TODO through hsi?)
with open(out_pto + '.tmp', 'r') as tmp_ff:
with open(out_pto, 'w') as ff:
# re-write the header
ff.write(tmp_ff.readline())
ff.write(tmp_ff.readline())
# force jpeg for the p-line
p_line = tmp_ff.readline().strip().split()
assert p_line[0] == 'p', "BUG: should be a p-line"
ff.write(' '.join(p_line[:7]) + ' n"JPEG q100"\n')
# remove extra 'f' param in the m-line (screws everything up if left here...)
m_line = tmp_ff.readline().strip().split()
assert m_line[0] == 'm', "BUG: should be a m-line"
ff.write(' '.join(m_line[:3]) + ' ' + ' '.join(m_line[4:]) + '\n')
# write all other lines
for l in tmp_ff.readlines():
ff.write(l)
os.remove(out_pto + '.tmp')
def optimize_geometry(proj_file, optim_vars, optim_ref_fov=False):
""" Optimise the geometric parameters
Parameters
----------
proj_file: string,
the path to the Hugin project file (.pto)
optim_vars: string,
the set of variables to optimize for (separated by '_')
- v: view point
- p: pitch
- y: yaw
- r: roll
- Tr{X,Y,Z}: translation
optim_ref_fov: boolean, optional, default: False,
whether to optimize the input's reference horizontal field
of view (risky)
Returns
-------
optim_proj_file: string,
path of the Hugin project file containing the optimized
values for the desired variables.
Notes
-----
This is (by far) the most time consuming operation
(because of hugin's autooptimiser).
This is also the most likely function where the compensation process tends
to fail.
"""
optim_proj_file = proj_file + '.optim.pto'
# modify the input pto to specify the optimization variables
pano = hsi.Panorama()
pano.readData(hsi.ifstream(proj_file))
n_imgs = pano.getNrOfImages()
var_tup = tuple(optim_vars.split('_'))
for v in var_tup:
assert v in ('v', 'p', 'y', 'r', 'TrX', 'TrY', 'TrZ'), \
"Unknown var {0} in {1}".format(v, optim_vars)
optim_opts = [var_tup] * n_imgs # fov, pitch, roll, yaw
if optim_ref_fov:
# optim only field of view for 1st (reference) frame
optim_opts[0] = ('v')
# Note: do not optim. pitch, roll and yaw for this one, weird otherwise
else:
# 1st reference frame has the same fov as those of the input images
optim_opts[0] = ()
pano.setOptimizeVector(optim_opts)
pano.writeData(hsi.ofstream(proj_file))
# perform the optimization (TODO through hsi?)
cmd = "autooptimiser -n -s -o {opto} {pto}" # leveling can screw things up
exec_shell(cmd.format(pto=proj_file, opto=optim_proj_file))
# check for too large output (e.g. too wide panning or traveling)
pano = hsi.Panorama()
pano.readData(hsi.ifstream(optim_proj_file))
opts = pano.getOptions()
oh = opts.getHeight()
ow = opts.getWidth()
if oh * ow > 1e3 * 5e3:
raise ValueError(
"Degenerate case: too big output size ({0}, {1})\n".format(ow, oh) + \
"May be caused by too large panning or translations\n" + \
"=> Possible fixes: use a different field of view parameter or " + \
"optimize only for different variables than {0}\n".format(optim_vars))
return optim_proj_file
def optimize_geometry(proj_file, optim_vars, optim_ref_fov=False):
""" Optimise the geometric parameters
Parameters
----------
proj_file: string,
the path to the Hugin project file (.pto)
optim_vars: string,
the set of variables to optimize for (separated by '_')
- v: view point
- p: pitch
- y: yaw
- r: roll
- Tr{X,Y,Z}: translation
optim_ref_fov: boolean, optional, default: False,
whether to optimize the input's reference horizontal field
of view (risky)
Returns
-------
optim_proj_file: string,
path of the Hugin project file containing the optimized
values for the desired variables.
Notes
-----
This is (by far) the most time consuming operation
(because of hugin's autooptimiser).
This is also the most likely function where the compensation process tends
to fail.
"""
optim_proj_file = proj_file + '.optim.pto'
# modify the input pto to specify the optimization variables
pano = hsi.Panorama()
pano.readData(hsi.ifstream(proj_file))
n_imgs = pano.getNrOfImages()
var_tup = tuple(optim_vars.split('_'))
for v in var_tup:
assert v in ('v', 'p', 'y', 'r', 'TrX', 'TrY', 'TrZ'), \
"Unknown var {0} in {1}".format(v, optim_vars)
optim_opts = [var_tup] * n_imgs # fov, pitch, roll, yaw
if optim_ref_fov:
# optim only field of view for 1st (reference) frame
optim_opts[0] = ('v')
# Note: do not optim. pitch, roll and yaw for this one, weird otherwise
else:
# 1st reference frame has the same fov as those of the input images
optim_opts[0] = ()
pano.setOptimizeVector(optim_opts)
pano.writeData(hsi.ofstream(proj_file))
# perform the optimization (TODO through hsi?)
cmd = "autooptimiser -n -s -o {opto} {pto}" # leveling can screw things up
exec_shell(cmd.format(pto=proj_file, opto=optim_proj_file))
# check for too large output (e.g. too wide panning or traveling)
pano = hsi.Panorama()
pano.readData(hsi.ifstream(optim_proj_file))
opts = pano.getOptions()
oh = opts.getHeight()
ow = opts.getWidth()
if oh * ow > 1e3 * 5e3:
raise ValueError(
"Degenerate case: too big output size ({0}, {1})\n".format(ow, oh) + \
"May be caused by too large panning or translations\n" + \
"=> Possible fixes: use a different field of view parameter or " + \
"optimize only for different variables than {0}\n".format(optim_vars))
return optim_proj_file