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81 lines
2.6 KiB
Python
81 lines
2.6 KiB
Python
import cv2
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import numpy as np
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import os
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import json
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def skew(x):
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return np.array([[0, -x[2], x[1]],
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[x[2], 0, -x[0]],
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[-x[1], x[0], 0]])
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def two_view_geometry(intrinsics1, extrinsics1, intrinsics2, extrinsics2):
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relative_pose = extrinsics2.dot(np.linalg.inv(extrinsics1))
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R = relative_pose[:3, :3]
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T = relative_pose[:3, 3]
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tx = skew(T)
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E = np.dot(tx, R)
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F = np.linalg.inv(intrinsics2[:3, :3]).T.dot(E).dot(np.linalg.inv(intrinsics1[:3, :3]))
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return E, F, relative_pose
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def drawpointslines(img1, pts1, img2, lines2, colors):
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h, w = img2.shape[:2]
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# img1 = cv2.cvtColor(img1, cv2.COLOR_GRAY2BGR)
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# img2 = cv2.cvtColor(img2, cv2.COLOR_GRAY2BGR)
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print(pts1.shape, lines2.shape, colors.shape)
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for p, l, c in zip(pts1, lines2, colors):
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c = tuple(c.tolist())
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img1 = cv2.circle(img1, tuple(p), 5, c, -1)
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x0, y0 = map(int, [0, -l[2]/l[1]])
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x1, y1 = map(int, [w, -(l[2]+l[0]*w)/l[1]])
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img2 = cv2.line(img2, (x0, y0), (x1, y1), c, 1, lineType=cv2.LINE_AA)
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return img1, img2
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def inspect(img1, K1, W2C1, img2, K2, W2C2):
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E, F, relative_pose = two_view_geometry(K1, W2C1, K2, W2C2)
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orb = cv2.ORB_create()
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kp1 = orb.detect(cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY), None)[:20]
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pts1 = np.array([[int(kp.pt[0]), int(kp.pt[1])] for kp in kp1])
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lines2 = cv2.computeCorrespondEpilines(pts1.reshape(-1,1,2), 1, F)
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lines2 = lines2.reshape(-1, 3)
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colors = np.random.randint(0, high=255, size=(len(pts1), 3))
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img1, img2 = drawpointslines(img1, pts1, img2, lines2, colors)
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im_to_show = np.concatenate((img1, img2), axis=1)
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# down sample to fit screen
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h, w = im_to_show.shape[:2]
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im_to_show = cv2.resize(im_to_show, (int(0.5*w), int(0.5*h)), interpolation=cv2.INTER_AREA)
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cv2.imshow('epipolar geometry', im_to_show)
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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if __name__ == '__main__':
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base_dir = './'
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img_dir = os.path.join(base_dir, 'train/rgb')
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cam_dict_file = os.path.join(base_dir, 'train/cam_dict_norm.json')
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img_name1 = '000001.png'
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img_name2 = '000005.png'
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cam_dict = json.load(open(cam_dict_file))
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img1 = cv2.imread(os.path.join(img_dir, img_name1))
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K1 = np.array(cam_dict[img_name1]['K']).reshape((4, 4))
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W2C1 = np.array(cam_dict[img_name1]['W2C']).reshape((4, 4))
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img2 = cv2.imread(os.path.join(img_dir, img_name2))
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K2 = np.array(cam_dict[img_name2]['K']).reshape((4, 4))
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W2C2 = np.array(cam_dict[img_name2]['W2C']).reshape((4, 4))
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inspect(img1, K1, W2C1, img2, K2, W2C2)
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