http://www.mediawiki.org/wiki/Special:Code/pywikipedia/11604
Revision: 11604 Author: drtrigon Date: 2013-06-01 21:02:13 +0000 (Sat, 01 Jun 2013) Log Message: ----------- new feature; POSIT algorithm from OpenCV through simple (home-brew) python wrapper improvement; opencv module (!) parts moved from 'dtbext' to 'externals' (datafiles not!)
Modified Paths: -------------- trunk/pywikipedia/catimages.py
Modified: trunk/pywikipedia/catimages.py =================================================================== --- trunk/pywikipedia/catimages.py 2013-06-01 16:25:53 UTC (rev 11603) +++ trunk/pywikipedia/catimages.py 2013-06-01 21:02:13 UTC (rev 11604) @@ -427,10 +427,21 @@ drv = -cv2.composeRT(-rvec, np.zeros((3,1)), neutral, np.zeros((3,1)))[0] rvec = cv2.Rodrigues(cv2.Rodrigues(rvec)[0])[0] # NOT unique!!! - nrv = cv2.composeRT(neutral, np.zeros((3,1)), - drv, np.zeros((3,1)))[0] + #nrv = cv2.composeRT(neutral, np.zeros((3,1)), + # drv, np.zeros((3,1)))[0] #print (rvec - nrv < 1E-12) # compare data['Pose'] = map(float, tuple(drv[:,0])) +# TODO: POSIT has to be tested and compared to solvePnP; which one is better?? + if False: + pywikibot.output("solvePnP:") + pywikibot.output(str(rvec[:,0])) + pywikibot.output(str(tvec[:,0])) + import opencv + #opencv.unit_test() + (rmat, tvec, mdl) = opencv.posit(D3points, D2points, (100, 1.0e-4)) + pywikibot.output("POSIT:") + pywikibot.output(str(cv2.Rodrigues(rmat)[0][:,0])) + pywikibot.output(str(tvec)) result.append( data )
## see '_drawRect' @@ -559,7 +570,7 @@ # http://opencv.itseez.com/modules/gpu/doc/object_detection.html # http://opencv.willowgarage.com/documentation/cpp/basic_structures.html # http://www.pygtk.org/docs/pygtk/class-gdkrectangle.html - + self._info['People'] = [] scale = 1. try: @@ -849,8 +860,8 @@ # BoWclassify /data/toolserver/pywikipedia/dtbext/opencv/VOC2007 /data/toolserver/pywikipedia/dtbext/opencv/data FAST SURF BruteForce | tee run.log # BoWclassify /data/toolserver/pywikipedia/dtbext/opencv/VOC2007 /data/toolserver/pywikipedia/dtbext/opencv/data HARRIS SIFT BruteForce | tee run.log # http://experienceopencv.blogspot.com/2011/02/object-recognition-bag-of-keypo... - sys.path.append(os.path.join(scriptdir, 'dtbext')) import opencv + #opencv.unit_test()
if os.path.exists(bowDescPath): os.remove(bowDescPath) @@ -858,13 +869,13 @@ stdout = sys.stdout sys.stdout = StringIO.StringIO() #result = opencv.BoWclassify.main(0, '', '', '', '', '') - result = opencv.BoWclassify.main(6, - os.path.join(scriptdir, 'dtbext/opencv/VOC2007'), - os.path.join(scriptdir, 'dtbext/opencv/data'), - 'HARRIS', # not important; given by training - 'SIFT', # not important; given by training - 'BruteForce', # not important; given by training - [str(os.path.abspath(self.image_path).encode('latin-1'))]) + result = opencv.BoWclassify(6, + os.path.join(scriptdir, 'dtbext/opencv/VOC2007'), + os.path.join(scriptdir, 'dtbext/opencv/data'), + 'HARRIS', # not important; given by training + 'SIFT', # not important; given by training + 'BruteForce', # not important; given by training + [str(os.path.abspath(self.image_path).encode('latin-1'))]) #out = sys.stdout.getvalue() sys.stdout = stdout #print out