epnp_tvec_error, epnp_rmat_error = ef.calc_estimated_pose_error(
cam.get_tvec(), cam.R, epnpCam.get_tvec(), epnp_rmat)
epnp_tvec_error_loop.append(epnp_tvec_error)
epnp_rmat_error_loop.append(epnp_rmat_error)
pnp_tvec_error, pnp_rmat_error = ef.calc_estimated_pose_error(
cam.get_tvec(), cam.R, pnpCam.get_tvec(), pnp_rmat)
pnp_tvec_error_loop.append(pnp_tvec_error)
pnp_rmat_error_loop.append(pnp_rmat_error)
#Homography Estimation from noisy image points
#DLT TRANSFORM
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy_dlt, _, _ = homo2d.homography2d(Xo, Xi)
Hnoisy_dlt = Hnoisy_dlt / Hnoisy_dlt[2, 2]
#HO METHOD
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy_HO = hh(Xo, Xi)
#OpenCV METHOD
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy_OpenCV, _ = cv2.findHomography(Xo[:2].T.reshape(1, -1, 2),
Xi[:2].T.reshape(1, -1, 2))
## ERRORS FOR THE DLT HOMOGRAPHY
## VALIDATION OBJECT POINTS
def calculate_metrics(self):
new_objectPoints = self.ObjectPoints[-1]
cam = self.Camera[-1]
validation_plane = self.ValidationPlane
new_imagePoints = np.array(cam.project(new_objectPoints, False))
self.ImagePoints.append(new_imagePoints)
#CONDITION NUMBER CALCULATION
input_list = gd.extract_objectpoints_vars(new_objectPoints)
input_list.append(np.array(cam.P))
mat_cond = gd.matrix_condition_number_autograd(*input_list,
normalize=False)
#CONDITION NUMBER WITH A NORMALIZED CALCULATION
input_list = gd.extract_objectpoints_vars(new_objectPoints)
input_list.append(np.array(cam.P))
mat_cond_normalized = gd.matrix_condition_number_autograd(
*input_list, normalize=True)
self.CondNumber.append(mat_cond)
self.CondNumberNorm.append(mat_cond_normalized)
##HOMOGRAPHY ERRORS
## TRUE VALUE OF HOMOGRAPHY OBTAINED FROM CAMERA PARAMETERS
Hcam = cam.homography_from_Rt()
##We add noise to the image points and calculate the noisy homography
homo_dlt_error_loop = []
homo_HO_error_loop = []
homo_CV_error_loop = []
ippe_tvec_error_loop = []
ippe_rmat_error_loop = []
epnp_tvec_error_loop = []
epnp_rmat_error_loop = []
pnp_tvec_error_loop = []
pnp_rmat_error_loop = []
# WE CREATE NOISY IMAGE POINTS (BASED ON THE TRUE VALUES) AND CALCULATE
# THE ERRORS WE THEN OBTAIN AN AVERAGE FOR EACH ONE
for j in range(self.ValidationIters):
new_imagePoints_noisy = cam.addnoise_imagePoints(
new_imagePoints, mean=0, sd=self.ImageNoise)
#Calculate the pose using IPPE (solution with least repro error)
normalizedimagePoints = cam.get_normalized_pixel_coordinates(
new_imagePoints_noisy)
ippe_tvec1, ippe_rmat1, ippe_tvec2, ippe_rmat2 = pose_ippe_both(
new_objectPoints, normalizedimagePoints, debug=False)
ippeCam1 = cam.clone_withPose(ippe_tvec1, ippe_rmat1)
#Calculate the pose using solvepnp EPNP
debug = False
epnp_tvec, epnp_rmat = pose_pnp(new_objectPoints,
new_imagePoints_noisy, cam.K,
debug, cv2.SOLVEPNP_EPNP, False)
epnpCam = cam.clone_withPose(epnp_tvec, epnp_rmat)
#Calculate the pose using solvepnp ITERATIVE
pnp_tvec, pnp_rmat = pose_pnp(new_objectPoints,
new_imagePoints_noisy, cam.K, debug,
cv2.SOLVEPNP_ITERATIVE, False)
pnpCam = cam.clone_withPose(pnp_tvec, pnp_rmat)
#Calculate errors
ippe_tvec_error1, ippe_rmat_error1 = ef.calc_estimated_pose_error(
cam.get_tvec(), cam.R, ippeCam1.get_tvec(), ippe_rmat1)
ippe_tvec_error_loop.append(ippe_tvec_error1)
ippe_rmat_error_loop.append(ippe_rmat_error1)
epnp_tvec_error, epnp_rmat_error = ef.calc_estimated_pose_error(
cam.get_tvec(), cam.R, epnpCam.get_tvec(), epnp_rmat)
epnp_tvec_error_loop.append(epnp_tvec_error)
epnp_rmat_error_loop.append(epnp_rmat_error)
pnp_tvec_error, pnp_rmat_error = ef.calc_estimated_pose_error(
cam.get_tvec(), cam.R, pnpCam.get_tvec(), pnp_rmat)
pnp_tvec_error_loop.append(pnp_tvec_error)
pnp_rmat_error_loop.append(pnp_rmat_error)
#Homography Estimation from noisy image points
#DLT TRANSFORM
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy_dlt, _, _ = homo2d.homography2d(Xo, Xi)
Hnoisy_dlt = Hnoisy_dlt / Hnoisy_dlt[2, 2]
#HO METHOD
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy_HO = hh(Xo, Xi)
#OpenCV METHOD
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy_OpenCV, _ = cv2.findHomography(Xo[:2].T.reshape(1, -1, 2),
Xi[:2].T.reshape(1, -1, 2))
## ERRORS FOR THE DLT HOMOGRAPHY
## VALIDATION OBJECT POINTS
validation_objectPoints = validation_plane.get_points()
validation_imagePoints = np.array(
cam.project(validation_objectPoints, False))
Xo = np.copy(validation_objectPoints)
Xo = np.delete(Xo, 2, axis=0)
Xi = np.copy(validation_imagePoints)
homo_dlt_error_loop.append(
ef.validation_points_error(Xi, Xo, Hnoisy_dlt))
## ERRORS FOR THE HO HOMOGRAPHY
## VALIDATION OBJECT POINTS
validation_objectPoints = validation_plane.get_points()
validation_imagePoints = np.array(
cam.project(validation_objectPoints, False))
Xo = np.copy(validation_objectPoints)
Xo = np.delete(Xo, 2, axis=0)
Xi = np.copy(validation_imagePoints)
homo_HO_error_loop.append(
ef.validation_points_error(Xi, Xo, Hnoisy_HO))
## ERRORS FOR THE OpenCV HOMOGRAPHY
## VALIDATION OBJECT POINTS
validation_objectPoints = validation_plane.get_points()
validation_imagePoints = np.array(
cam.project(validation_objectPoints, False))
Xo = np.copy(validation_objectPoints)
Xo = np.delete(Xo, 2, axis=0)
Xi = np.copy(validation_imagePoints)
homo_CV_error_loop.append(
ef.validation_points_error(Xi, Xo, Hnoisy_OpenCV))
self.Homo_DLT_mean.append(np.mean(homo_dlt_error_loop))
self.Homo_HO_mean.append(np.mean(homo_HO_error_loop))
self.Homo_CV_mean.append(np.mean(homo_CV_error_loop))
self.ippe_tvec_error_mean.append(np.mean(ippe_tvec_error_loop))
self.ippe_rmat_error_mean.append(np.mean(ippe_rmat_error_loop))
self.epnp_tvec_error_mean.append(np.mean(epnp_tvec_error_loop))
self.epnp_rmat_error_mean.append(np.mean(epnp_rmat_error_loop))
self.pnp_tvec_error_mean.append(np.mean(pnp_tvec_error_loop))
self.pnp_rmat_error_mean.append(np.mean(pnp_rmat_error_loop))
self.Homo_DLT_std.append(np.std(homo_dlt_error_loop))
self.Homo_HO_std.append(np.std(homo_HO_error_loop))
self.Homo_CV_std.append(np.std(homo_CV_error_loop))
self.ippe_tvec_error_std.append(np.std(ippe_tvec_error_loop))
self.ippe_rmat_error_std.append(np.std(ippe_rmat_error_loop))
self.epnp_tvec_error_std.append(np.std(epnp_tvec_error_loop))
self.epnp_rmat_error_std.append(np.std(epnp_rmat_error_loop))
self.pnp_tvec_error_std.append(np.std(pnp_tvec_error_loop))
self.pnp_rmat_error_std.append(np.std(pnp_rmat_error_loop))
)
plt.xlim(0, 1280)
plt.ylim(0, 960)
#if i==0:
# plt.legend()
plt.gca().invert_yaxis()
#plt.pause(0.05)
## NOW FOR EACH SET OF POINTS WE CALCULATE THE HOMOGRAPHY USING THE DLT ALGORITHM
## REFERENCE OBJECT POINTS
Xo = objectPoints_ref[[0, 1, 3], :]
Xi = imagePoints_ref_noisy
Aref = ef.calculate_A_matrix(Xo, Xi)
Href, A_t_ref, H_t = homo2d.homography2d(Xo, Xi)
Href = Href / Href[2, 2]
## NOW FOR POINTS WITH A DESIRED CONFIGURATION
Xo = np.copy(objectPoints_des)
Xo = np.delete(Xo, 2, axis=0)
Xi = np.copy(imagePoints_des_noisy)
Ades = ef.calculate_A_matrix(Xo, Xi)
Hdes, A_t_des, _ = homo2d.homography2d(Xo, Xi)
Hdes = Hdes / Hdes[2, 2]
## CALCULATE HOMOGRAPHY ESTIMATION ERRORS
## we need points without noise to confirm
## object coordinates dont have noise, only image coordinates
## VALIDATION OBJECT POINTS
mat_cond = ef.get_matrix_pnorm_condition_number(Aideal)
##HOMOGRAPHY ERRORS
## TRUE VALUE OF HOMOGRAPHY OBTAINED FROM CAMERA PARAMETERS
Hcam = cam.homography_from_Rt()
homography_iters = 1000
##We add noise to the image points and calculate the noisy homography
transfer_error_sum = 0
for j in range(homography_iters):
new_imagePoints_noisy = cam.addnoise_imagePoints(new_imagePoints,
mean=0,
sd=1)
#Noisy homography calculation
Xo = new_objectPoints[[0, 1, 3], :]
Xi = new_imagePoints_noisy
Hnoisy, A_t_ref, H_t = homo2d.homography2d(Xo, Xi)
Hnoisy = Hnoisy / Hnoisy[2, 2]
## ERRORS FOR THE NOISY HOMOGRAPHY
## VALIDATION OBJECT POINTS
validation_objectPoints = validation_plane.get_points()
validation_imagePoints = np.array(
cam.project(validation_objectPoints, False))
Xo = np.copy(validation_objectPoints)
Xo = np.delete(Xo, 2, axis=0)
Xi = np.copy(validation_imagePoints)
transfer_error_sum += ef.validation_points_error(Xi, Xo, Hnoisy)
transfer_error_list.append(transfer_error_sum / homography_iters)
plt.figure("Average Transfer error")
plt.cla()
mean=0,
sd=4)
## NOW FOR EACH SET OF POINTS WE CALCULATE THE HOMOGRAPHY USING THE DLT ALGORITHM
## NOW FOR POINTS WITH A DESIRED CONFIGURATION
#Calculate the homography
Xo = np.copy(
objectPoints_des[[0, 1, 3], :]) #without the z coordinate (plane)
Xi = np.copy(imagePoints_des_noisy)
Ades = calculate_A_matrix(Xo, Xi)
#Ades = calculate_A_matrix(Xo, Xi)
Hdes, A_t_des, _ = homo2d.homography2d(Xo, Xi)
Hdes = Hdes / Hdes[2, 2]
## CALCULATE HOMOGRAPHY ESTIMATION ERRORS
## we need points without noise to confirm
## object coordinates dont have noise, only image coordinates
#validation_objectPoints = np.copy(objectPoints_des)
#validation_imagePoints = np.copy(objectPoints_des)
Xo = np.copy(validation_objectPoints[
[0, 1, 3], :]) #without the z coordinate (plane)
Xi = np.copy(validation_imagePoints)
geometric_distance_list.append(geometric_distance_points(Xo, Xi, Hdes))
H_error_list.append(np.sqrt(np.sum(np.abs(H_cam - Hdes)**2)))
