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SPeillet authored0ea6e83f
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# -*- coding: utf-8 -*-
"""
Created on Wed Jun 26 08:42:01 2019
@author: thomas.drevet
"""
# Import the libraries
import numpy as np
import cv2
from DéFI.Orthorectification.ReadTXT import ReadIntParam
from DéFI.Orthorectification.ReadODS import ReadMiresCoord, ReadMiresImag
import matplotlib.pyplot as plt
pathMiresCoordODS = "C:\\Users\\thomas.drevet\\Documents\\Seafile\\DeFI\\Donnees\\Donnees_Georeferencement\\coordonnees-mires-saintemarie-2019.ods"
IntMtx, DistCoef = ReadIntParam('DéFI\\Orthorectification\\CameraCalibration\\CalibCam2.txt')
#DistCoef = np.zeros(DistCoef.shape)
pathMiresImageODS = "C:\\Users\\thomas.drevet\\Documents\\Seafile\\DeFI\\Donnees\\Donnees_Georeferencement\\GéoMires\\camera2\\IMAG1674.ods"
MiresCoord = ReadMiresCoord(pathMiresCoordODS)
MiresImag = ReadMiresImag(pathMiresImageODS)
ObjectCoord = []
ObjectImag = []
# For all image references...
for i in range (len(MiresImag)):
# ... Find its corresponding world references...
for j in range(len(MiresCoord)):
if MiresImag[i]['IDMires'] == MiresCoord[j]['NumeroPoint']:
NewObjectCoord = [MiresCoord[j]['X'], MiresCoord[j]['Y'], MiresCoord[j]['Z']]
ObjectCoord.append(NewObjectCoord)
NewObjectImag = [np.float(MiresImag[i]['xImg']), np.float(MiresImag[i]['yImg'])]
ObjectImag.append(NewObjectImag)
# ... And store their coordinates
ObjCoord = np.array(ObjectCoord)
ObjImag = np.array(ObjectImag)
ResSupMires = []
for k in range(ObjImag.shape[0]):
ObjCoordR = np.delete(ObjCoord, (k), axis=0)
ObjImagR = np.delete(ObjImag, (k), axis=0)
_, ERotVec, ETranVec = cv2.solvePnP(ObjCoordR, ObjImagR, IntMtx, DistCoef)
_, RotVec, TranVec = cv2.solvePnP(ObjCoordR, np.ascontiguousarray(ObjImagR[:,:2]).reshape((len(ObjImagR),1,2)), IntMtx, DistCoef, ERotVec, ETranVec, True, cv2.SOLVEPNP_EPNP)
ProjPt = []
for i in range(ObjImagR.shape[0]):
NormProjPt = cv2.projectPoints(ObjCoordR[i].reshape(-1,3), RotVec, TranVec, IntMtx, DistCoef)[0][0, 0]
ProjPt.append(NormProjPt)
ReProjPts = np.array(ProjPt)
Diff = ReProjPts - ObjImagR
SumPDiff = np.power(Diff[:, 0], 2) + np.power(Diff[:, 1], 2)
Res = np.sqrt(SumPDiff[:])
MRes = np.mean(Res)
ResSupMires.append(MRes)