Python normalize Examples

Example #1

File: ch4_ar_cube.py Project: Wangman1/python-computer-version

model = homography.RansacModel()
H, inliers = homography.H_from_ransac(fp, tp, model)

# camera calibration
K = my_calibration((747, 1000))

# 3D points at plane z=0 with sides of length 0.2
box = cube_points([0, 0, 0.1], 0.1)

# project bottom square in first image
cam1 = camera.Camera(hstack((K, dot(K, array([[0], [0], [-1]])))))
# first points are the bottom square
box_cam1 = cam1.project(homography.make_homog(box[:, :5]))

# use H to transfer points to the second image
box_trans = homography.normalize(dot(H, box_cam1))

# compute second camera matrix from cam1 and H
cam2 = camera.Camera(dot(H, cam1.P))
A = dot(linalg.inv(K), cam2.P[:, :3])
A = array([A[:, 0], A[:, 1], cross(A[:, 0], A[:, 1])]).T
cam2.P[:, :3] = dot(K, A)

# project with the second camera
box_cam2 = cam2.project(homography.make_homog(box))

# plotting
im0 = array(Image.open('book_frontal.JPG'))
im1 = array(Image.open('book_perspective.JPG'))

figure()

Example #2

File: ch4_ar_cube.py Project: CBIR-LL/pcv-book-code

H, inliers = homography.H_from_ransac(fp, tp, model)

# camera calibration
K = my_calibration((747, 1000))

# 3D points at plane z=0 with sides of length 0.2
box = cube_points([0, 0, 0.1], 0.1)

# project bottom square in first image
cam1 = camera.Camera(hstack((K, dot(K, array([[0], [0], [-1]])))))
# first points are the bottom square
box_cam1 = cam1.project(homography.make_homog(box[:, :5]))


# use H to transfer points to the second image
box_trans = homography.normalize(dot(H,box_cam1))

# compute second camera matrix from cam1 and H
cam2 = camera.Camera(dot(H, cam1.P))
A = dot(linalg.inv(K), cam2.P[:, :3])
A = array([A[:, 0], A[:, 1], cross(A[:, 0], A[:, 1])]).T
cam2.P[:, :3] = dot(K, A)

# project with the second camera
box_cam2 = cam2.project(homography.make_homog(box))



# plotting
im0 = array(Image.open('book_frontal.JPG'))
im1 = array(Image.open('book_perspective.JPG'))

Example #3

File: ch4_ar_cube.py Project: onaries/Python-Exercise

K = my_calibration((747,1000))

print K

# 3D points at plane z=0 with sides of length 0.2
# box = cube_points([0.15,-0.15,0.1],0.1)
box = cube_points([0,0,0.1],0.09)

# project bottom square in first image
cam1 = camera.Camera( hstack((K,dot(K,array([[0],[0],[-1]])) )) )
# first points are the bottom square
box_cam1 = cam1.project(homography.make_homog(box[:,:5]))


# use H to transfer points to the second image
box_trans = homography.normalize(dot(H,box_cam1))

# compute second camera matrix from cam1 and H
cam2 = camera.Camera(dot(H,cam1.P))
A = dot(linalg.inv(K),cam2.P[:,:3])
A = array([A[:,0],A[:,1],cross(A[:,0],A[:,1])]).T
cam2.P[:,:3] = dot(K,A)

# print cam2.P
Rt = dot(linalg.inv(K),cam2.P)
print Rt

# project with the second camera
box_cam2 = cam2.project(homography.make_homog(box))

point = array([1,1,0,1]).T