def runRectification(image_name):
img = imageio.readImageFloat(image_name)
points = pointselecter.getFourPoints(img)
print "Processing..... Please, wait."
D_W = RESULTING_RECTIFICATION_WIDTH
D_H = RESULTING_RECTIFICATION_HEIGHT
border = RECTIFICATION_BORDER_FRACTION
points_view = np.array([(border * D_W, border * D_H),
((1 - border) * D_W, border * D_H),
((1 - border) * D_W, (1 - border) * D_H),
(border * D_W, (1 - border) * D_H)])
H = transforms.computeHomography(points, points_view)
pts_x, pts_y = zip(*points)
result_image = 0 * np.ones((D_H, D_W, 3))
fill(img, result_image, H)
print "Displaying the final result."
figure, axis = plt.subplots(ncols=1)
axis.imshow(result_image, vmin=0, vmax=1)
plt.show()
def runRectification(image_name): img = imageio.readImageFloat(image_name) points = pointselecter.getFourPoints(img) print "Processing..... Please, wait." D_W = RESULTING_RECTIFICATION_WIDTH D_H = RESULTING_RECTIFICATION_HEIGHT border = RECTIFICATION_BORDER_FRACTION points_view = np.array([(border*D_W,border*D_H),((1-border)*D_W,border*D_H),((1-border)*D_W,(1-border)*D_H),(border*D_W,(1-border)*D_H)]) H = transforms.computeHomography(points,points_view) pts_x, pts_y = zip(*points) result_image = 0*np.ones((D_H,D_W,3)) fill(img,result_image,H) print "Displaying the final result." figure, axis = plt.subplots(ncols=1) axis.imshow(result_image, vmin=0, vmax=1) plt.show()
matrix_msg = matrix3_3()
# This is placeholder code that will draw a 4 by 3 grid in the corner of
# the image
H = np.eye(3)
nx = 4
ny = 3
WIDTH_POINTS = nx*TILE_LENGTH
HEIGHT_POINTS = ny*TILE_LENGTH
points_source = points
points_target = [(0,0),(WIDTH_POINTS,0),(WIDTH_POINTS,HEIGHT_POINTS),(0,HEIGHT_POINTS)]
H = np.array(transforms.computeHomography(points_target,points_source))
matrix_msg.e00 = H[0,0]
matrix_msg.e01 = H[0,1]
matrix_msg.e02 = H[0,2]
matrix_msg.e10 = H[1,0]
matrix_msg.e11 = H[1,1]
matrix_msg.e12 = H[1,2]
matrix_msg.e20 = H[2,0]
matrix_msg.e21 = H[2,1]
matrix_msg.e22 = H[2,2]
matrix_pub.publish(matrix_msg)
# ==============================================================================
