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@EderSantana
Created September 27, 2016 20:20
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Test structure from motion pipeline by warping images with estimated parameters
import numpy as np
import opensfm
import cv2
from opensfm import dataset
import pylab
import scipy.interpolate
import opensfm.features
def project(shot, point):
p = shot.project(point.coordinates)
return opensfm.features.denormalized_image_coordinates(
p.reshape(1, 2), shot.camera.width, shot.camera.height)[0]
def warp_image(reconstruction, src_id, dst_id):
src_shot = reconstruction.shots[src_id]
dst_shot = reconstruction.shots[dst_id]
points = reconstruction.points.values()
src_points = np.array([project(src_shot, p) for p in points])
dst_points = np.array([project(dst_shot, p) for p in points])
src = data.image_as_array(src_id)
dst = data.image_as_array(dst_id)
dst_y, dst_x = np.indices(dst.shape[:2])
dst_grid = np.column_stack([dst_x.ravel(), dst_y.ravel()])
x = scipy.interpolate.griddata(dst_points, src_points[:, 0],
dst_grid, method='linear')
y = scipy.interpolate.griddata(dst_points, src_points[:, 1],
dst_grid, method='linear')
x = np.where(np.isnan(x), 0, x).reshape(dst.shape[:2])
y = np.where(np.isnan(y), 0, y).reshape(dst.shape[:2])
x = np.clip(x, 0, src.shape[1] - 1)
y = np.clip(y, 0, src.shape[0] - 1)
warped = src[y.astype(int), x.astype(int)]
pylab.figure()
pylab.subplot(2, 2, 1)
pylab.title('source')
pylab.imshow(src)
pylab.subplot(2, 2, 2)
pylab.title('target')
pylab.imshow(dst)
pylab.subplot(2, 2, 3)
pylab.title('source wraped to target')
pylab.imshow(warped)
pylab.subplot(2, 2, 4)
pylab.title('comparision')
pylab.imshow(warped / 2 + dst / 2)
# load opensfm dataset
data = dataset.DataSet('/Users/eder/python/OpenSFM/data/berlin')
rec = data.load_reconstruction()[0]
print rec.shots['01.jpg']
shot = rec.shots['01.jpg']
for s in rec.shots.values():
warp_image(rec, shot.id, s.id)
pylab.show()
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