http://www.mediawiki.org/wiki/Special:Code/pywikipedia/11618

Revision: 11618 Author: drtrigon Date: 2013-06-02 17:01:35 +0000 (Sun, 02 Jun 2013) Log Message: ----------- improvement; POSIT refactored into own method, does projection to calc errors also

Modified Paths: -------------- trunk/pywikipedia/catimages.py

Modified: trunk/pywikipedia/catimages.py =================================================================== --- trunk/pywikipedia/catimages.py 2013-06-02 13:07:05 UTC (rev 11617) +++ trunk/pywikipedia/catimages.py 2013-06-02 17:01:35 UTC (rev 11618) @@ -405,7 +405,7 @@ D2points = [ item[:2] + item[2:]/2. for item in D2points ] neutral = np.array([[np.pi],[0.],[0.]]) # calculate pose - rvec, tvec, cm, err = self._util_get_Pose(D3points, D2points, self.image_size) + rvec, tvec, cm, err = self._util_get_Pose_solvePnP(D3points, D2points, self.image_size) #data['Pose'] = tuple(rvec[:,0]) check = not (err[:,0,:].max() > 0.5) if not check: @@ -431,18 +431,18 @@ # 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?? +# TODO: POSIT has to be tested and compared; draw both results! # POSIT: http://www.cfar.umd.edu/~daniel/daniel_papersfordownload/Pose25Lines.pdf 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(str(err[:,0,:])) + rvec, tvec, cm, err = self._util_get_Pose_POSIT(D3points, D2points) pywikibot.output("POSIT:") - pywikibot.output(str(cv2.Rodrigues(rmat)[0][:,0])) + pywikibot.output(str(rvec[:,0])) pywikibot.output(str(tvec)) + pywikibot.output(str(np.array(err)[:,0,:]/max(self.image_size))) result.append( data )

## see '_drawRect' @@ -455,7 +455,7 @@ self._info['Faces'] += result return

- def _util_get_Pose(self, D3points, D2points, shape): + def _util_get_Pose_solvePnP(self, D3points, D2points, shape): """ Calculate pose from head model "little girl" w/o camera or other calibrations needed.

@@ -488,6 +488,41 @@

return rvec, tvec, np.array(cameraMatrix), (np.array(err)/max_d)

+ #def _util_get_Pose_POSIT(self, D3points, D2points, shape): + def _util_get_Pose_POSIT(self, D3points, D2points): + """ Calculate pose from head model "little girl" w/o camera or other + calibrations needed. + + Method similar to '_util_get_Pose_solvePnP', please compare. + + D2points: left eye, right eye, nose, mouth + """ + # calculate pose + import opencv + #opencv.unit_test() + (rmat, tvec, mdl) = opencv.posit(D3points, D2points, (100, 1.0e-4)) + rvec = cv2.Rodrigues(rmat)[0] + + # Project the model points with the estimated pose + # http://opencv.willowgarage.com/documentation/cpp/camera_calibration_and_3d_r... + # intrinsic: camera matrix + # extrinsic: rotation-translation matrix [R|t] + # CV_32F, principal point in the centre of the image is (0, 0) instead of (self.image_size[0]*0.5) + FOCAL_LENGTH = 760.0 # hard-coded in posit_python.cpp, should be changed... + cameraMatrix = [[FOCAL_LENGTH, 0.0, 0.0],#shape[0]*0.0], + [ 0.0, FOCAL_LENGTH, 0.0],#shape[1]*0.0], + [ 0.0, 0.0, 1.0],] + + # compare to 2D points + err = [] + for i, vec in enumerate(np.array(mdl)): + nvec = np.dot(cameraMatrix, (np.dot(rmat, vec) + tvec)) + err.append(((D2points[i] - nvec[:2]/nvec[2]), D2points[i], nvec[:2]/nvec[2])) + + #pywikibot.output(u'result for UN-calibrated camera:\n rot=%s' % rvec.transpose()[0]) + + return rvec, tvec, np.array(cameraMatrix), (np.array(err)/1.0) + # https://pypi.python.org/pypi/xbob.flandmark # http://cmp.felk.cvut.cz/~uricamic/flandmark/ def _detect_FaceLandmark_xBOB(self): @@ -3849,9 +3884,9 @@ #outresult = [ outpage.get() ] + outresult # append to page outresult = u"\n".join(outresult) pywikibot.output(u"Size of log page data: %s byte(s)" % len(outresult)) - # write pages mutliple times if content is too large in order to circumvent: + # work-a-round: write pages mutliple times if content is too large in order to circumvent # "HTTPError: 504 Gateway Time-out" leading finally to "MaxTriesExceededError" - # (why is that...?!?? FIX THIS!) + # (why is that...?!?? FIX THIS in the framework core e.g. 'postForm'!) tmp = outresult while tmp: i = np.array([m.start() for m in re.finditer(u"\n\n==", tmp)]