add camera inspector
This commit is contained in:
parent
2b00fbfef5
commit
d893b217ef
6 changed files with 9581 additions and 0 deletions
|
@ -75,3 +75,10 @@ Check `camera_visualizer/visualize_cameras.py` for visualizing cameras in 3D. It
|
|||
<img src="camera_visualizer/screenshot_lowres.png" width="280">
|
||||
|
||||
|
||||
## Inspect camera parameters
|
||||
You can use `camera_inspector/inspect_epipolar_geometry.py` to inspect if the camera paramters are correct and follow the Opencv convention assumed by this codebase. The script creates a viewer for visually inspecting epipolar geometry like below: for key points in the top image, it plots their correspoinding epipolar lines in the bottom image. If the epipolar geometry does not look correct in this visualization, it's likely that there are some issues with the camera parameters.
|
||||
|
||||
<img src="camera_inspector/screenshot.png" width="280">
|
||||
|
||||
|
||||
|
||||
|
|
80
camera_inspector/inspect_epipolar_geometry.py
Normal file
80
camera_inspector/inspect_epipolar_geometry.py
Normal file
|
@ -0,0 +1,80 @@
|
|||
import cv2
|
||||
import numpy as np
|
||||
import os
|
||||
import json
|
||||
|
||||
|
||||
def skew(x):
|
||||
return np.array([[0, -x[2], x[1]],
|
||||
[x[2], 0, -x[0]],
|
||||
[-x[1], x[0], 0]])
|
||||
|
||||
|
||||
def two_view_geometry(intrinsics1, extrinsics1, intrinsics2, extrinsics2):
|
||||
relative_pose = extrinsics2.dot(np.linalg.inv(extrinsics1))
|
||||
R = relative_pose[:3, :3]
|
||||
T = relative_pose[:3, 3]
|
||||
tx = skew(T)
|
||||
E = np.dot(tx, R)
|
||||
F = np.linalg.inv(intrinsics2[:3, :3]).T.dot(E).dot(np.linalg.inv(intrinsics1[:3, :3]))
|
||||
|
||||
return E, F, relative_pose
|
||||
|
||||
|
||||
def drawpointslines(img1, pts1, img2, lines2, colors):
|
||||
h, w = img2.shape[:2]
|
||||
# img1 = cv2.cvtColor(img1, cv2.COLOR_GRAY2BGR)
|
||||
# img2 = cv2.cvtColor(img2, cv2.COLOR_GRAY2BGR)
|
||||
print(pts1.shape, lines2.shape, colors.shape)
|
||||
for p, l, c in zip(pts1, lines2, colors):
|
||||
c = tuple(c.tolist())
|
||||
img1 = cv2.circle(img1, tuple(p), 5, c, -1)
|
||||
|
||||
x0, y0 = map(int, [0, -l[2]/l[1]])
|
||||
x1, y1 = map(int, [w, -(l[2]+l[0]*w)/l[1]])
|
||||
img2 = cv2.line(img2, (x0, y0), (x1, y1), c, 1, lineType=cv2.LINE_AA)
|
||||
return img1, img2
|
||||
|
||||
|
||||
def inspect(img1, K1, W2C1, img2, K2, W2C2):
|
||||
E, F, relative_pose = two_view_geometry(K1, W2C1, K2, W2C2)
|
||||
|
||||
orb = cv2.ORB_create()
|
||||
kp1 = orb.detect(cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY), None)[:20]
|
||||
pts1 = np.array([[int(kp.pt[0]), int(kp.pt[1])] for kp in kp1])
|
||||
|
||||
lines2 = cv2.computeCorrespondEpilines(pts1.reshape(-1,1,2), 1, F)
|
||||
lines2 = lines2.reshape(-1, 3)
|
||||
|
||||
colors = np.random.randint(0, high=255, size=(len(pts1), 3))
|
||||
|
||||
img1, img2 = drawpointslines(img1, pts1, img2, lines2, colors)
|
||||
|
||||
im_to_show = np.concatenate((img1, img2), axis=0)
|
||||
# down sample
|
||||
h, w = im_to_show.shape[:2]
|
||||
im_to_show = cv2.resize(im_to_show, (int(0.5*w), int(0.5*h)), interpolation=cv2.INTER_AREA)
|
||||
cv2.imshow('epipolar geometry', im_to_show)
|
||||
cv2.waitKey(0)
|
||||
cv2.destroyAllWindows()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
base_dir = './'
|
||||
|
||||
img_dir = os.path.join(base_dir, 'train/rgb')
|
||||
cam_dict_file = os.path.join(base_dir, 'train/cam_dict_norm.json')
|
||||
img_name1 = '000001.png'
|
||||
img_name2 = '000005.png'
|
||||
|
||||
cam_dict = json.load(open(cam_dict_file))
|
||||
img1 = cv2.imread(os.path.join(img_dir, img_name1))
|
||||
K1 = np.array(cam_dict[img_name1]['K']).reshape((4, 4))
|
||||
W2C1 = np.array(cam_dict[img_name1]['W2C']).reshape((4, 4))
|
||||
|
||||
img2 = cv2.imread(os.path.join(img_dir, img_name2))
|
||||
K2 = np.array(cam_dict[img_name2]['K']).reshape((4, 4))
|
||||
W2C2 = np.array(cam_dict[img_name2]['W2C']).reshape((4, 4))
|
||||
|
||||
inspect(img1, K1, W2C1, img2, K2, W2C2)
|
||||
|
BIN
camera_inspector/screenshot.png
Normal file
BIN
camera_inspector/screenshot.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 1.2 MiB |
9494
camera_inspector/train/cam_dict_norm.json
Normal file
9494
camera_inspector/train/cam_dict_norm.json
Normal file
File diff suppressed because it is too large
Load diff
BIN
camera_inspector/train/rgb/000001.png
Normal file
BIN
camera_inspector/train/rgb/000001.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 874 KiB |
BIN
camera_inspector/train/rgb/000005.png
Normal file
BIN
camera_inspector/train/rgb/000005.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 871 KiB |
Loading…
Reference in a new issue