A1 complete.

A1/dlt.py

@@ -70,6 +70,8 @@ def find_projection_error(P, image_points, world_points):
                              [402.514, 132.227], [385.822, 237.047], [465.94, 277.77]])
     projection_matrix = DLT_method(image_points, world_points)
     K, R, C = decompose_projection(projection_matrix)
-
+    print(K)
+    print(R)
+    print(C)
     error = find_projection_error(projection_matrix, image_points, world_points)
     print(error)

A1/own_camera.py

@@ -0,0 +1,49 @@
+import cv2
+import numpy as np
+import matplotlib.pyplot as plt
+import os
+import pdb
+
+from dlt import DLT_method, decompose_projection
+from ransac import ransac_estimation
+from zhang import zhang_calibration, predict_points_zhang
+from wireframe import predict_points, plot_points
+
+if __name__ == "__main__":
+    # Use Zhangs method to find image points and world points
+    folder = "myimages/"
+    image_names = ["img_0.jpg", "img_1.jpg", "img_2.jpg", "img_3.jpg", "img_4.jpg",
+                   "img_5.jpg", "img_6.jpg", "img_7.jpg", "img_8.jpg", "img_9.jpg"]
+    images = [cv2.imread(os.path.join(folder, x)) for x in image_names]
+
+    ret, mtx, dist, rvecs, tvecs, objpoints, imgpoints = zhang_calibration(images, size=(15, 10))
+
+    pred_points = predict_points_zhang(rvecs[-1], tvecs[-1], mtx, dist, objpoints[-1])[0].reshape(150, 2)
+    img = plot_points(images[-1], pred_points)
+
+    plt.imshow(img)
+    plt.show()
+    print(mtx)
+
+    image_points = imgpoints[-1].reshape(150, 2).astype(int)
+    world_points = objpoints[-1].astype(int)
+    projection_matrix = DLT_method(image_points[0:6], world_points[0:6])
+    K, C, R = decompose_projection(projection_matrix)
+    print(K)
+    print(C)
+    print(R)
+    pred_points = predict_points(projection_matrix, world_points)
+    img = plot_points(images[-1], pred_points)
+
+    plt.imshow(img)
+    plt.show()
+
+    projection_matrix = ransac_estimation(image_points, world_points)
+    K, C, R = decompose_projection(projection_matrix)
+    print(K)
+    print(C)
+    print(R)
+    pred_points = predict_points(projection_matrix, world_points)
+    img = plot_points(images[-1], pred_points)
+    plt.imshow(img)
+    plt.show()

A1/radial.py

@@ -0,0 +1,32 @@
+import cv2
+import matplotlib.pyplot as plt
+import numpy as np
+import pdb
+
+def remove_distortion(calib_img, img_points, world_points, distort_img):
+    """Removes the distortion from an image by finding camera properties."""
+    gray = cv2.cvtColor(calib_img, cv2.COLOR_BGR2GRAY)
+    # pdb.set_trace()
+    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(np.array([world_points]), np.array([img_points]),
+                                                       gray.shape[::-1], None, None)
+    h,  w = distort_img.shape[:2]
+    newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w, h), 1, (w, h))
+    dst = cv2.undistort(distort_img, mtx, dist, None, newcameramtx)
+    x, y, w, h = roi
+    dst = dst[y:y+h, x:x+w]
+
+    return dst
+
+
+if __name__ == "__main__":
+    from points import world_points, image_points
+    calib_img = cv2.imread('Assignment1_Data/IMG_5455.JPG')
+
+    distort_img = cv2.imread('Assignment1_Data/IMG_5455.JPG')
+    dst = remove_distortion(calib_img, image_points, world_points, distort_img)
+
+    plt.imshow(distort_img)
+    plt.show()
+
+    plt.imshow(dst)
+    plt.show()

A1/ransac.py

@@ -1,7 +1,7 @@
 import numpy as np
 # import pdb
 
-from dlt import DLT_method, find_projection_error
+from dlt import DLT_method, find_projection_error, decompose_projection
 
 
 def ransac_estimation(image_points, world_points, iter=500):
@@ -28,6 +28,7 @@ def ransac_estimation(image_points, world_points, iter=500):
 if __name__ == "__main__":
     from points import image_points, world_points
     projection_matrix = ransac_estimation(image_points, world_points)
-
-    error = find_projection_error(projection_matrix, image_points, world_points)
-    print(error)
+    K, R, C = decompose_projection(projection_matrix)
+    print(K)
+    print(R)
+    print(C)

A1/wireframe.py

@@ -1,10 +1,12 @@
 import cv2
 import numpy as np
 import matplotlib.pyplot as plt
+import os
 import pdb
 
 from dlt import DLT_method
 from ransac import ransac_estimation
+# from zhang import zhang_calibration, predict_points_zhang
 
 
 def predict_points(projection_matrix, world_points):
@@ -34,22 +36,42 @@ def plot_wireframe(image, points):
     return img
 
 
+def plot_points(image, points):
+    img = image.copy()
+    for (x, y) in points:
+        if x < 0 or x >= img.shape[0] or y < 0 or y >= img.shape[1]:
+            continue
+        img = cv2.circle(img, (x, y), 50, (255, 0, 0), -1)
+    return img
+
+
 if __name__ == "__main__":
     from points import image_points, world_points
 
     image = cv2.imread('Assignment1_Data/IMG_5455.JPG')
     projection_matrix = DLT_method(image_points, world_points)
 
-    pred_points = predict_points(projection_matrix[0:6], world_points[0:6])
-    img = plot_wireframe(image, pred_points)
+    pred_points = predict_points(projection_matrix, world_points[0:6])
+    img = plot_points(image, pred_points)
 
     plt.imshow(img)
     plt.show()
 
     projection_matrix = ransac_estimation(image_points, world_points)
-
     pred_points = predict_points(projection_matrix, world_points)
-    img = plot_wireframe(image, pred_points)
+    img = plot_points(image, pred_points)
+    plt.imshow(img)
+    plt.show()
+
+    folder = "Assignment1_Data/"
+    image_names = ["IMG_5456.JPG", "IMG_5457.JPG", "IMG_5458.JPG", "IMG_5459.JPG", "IMG_5460.JPG",
+                   "IMG_5461.JPG", "IMG_5462.JPG", "IMG_5463.JPG", "IMG_5464.JPG", "IMG_5465.JPG",
+                   "IMG_5466.JPG", "IMG_5467.JPG", "IMG_5468.JPG", "IMG_5469.JPG", "IMG_5470.JPG"]
+    images = [cv2.imread(os.path.join(folder, x)) for x in image_names]
+
+    ret, mtx, dist, rvecs, tvecs, objpoints, imgpoints = zhang_calibration(images, size=(8, 6))
+    pred_points = predict_points_zhang(rvecs[-1], tvecs[-1], mtx, dist, objpoints[-1])[0].reshape(48, 2)
+    img = plot_wireframe(images[-1], pred_points)
 
     plt.imshow(img)
     plt.show()

A1/zhang.py

@@ -0,0 +1,53 @@
+import cv2
+import numpy as np
+import os
+import matplotlib.pyplot as plt
+
+from wireframe import plot_points
+
+
+def find_img_points(img, size=(8, 6)):
+    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+    objp = np.zeros((size[0]*size[1], 3), np.float32)
+    objp[:, :2] = np.mgrid[0:size[0], 0:size[1]].T.reshape(-1, 2)
+
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+    ret, corners = cv2.findChessboardCorners(gray, size, None)
+    if ret:
+        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
+        return objp, corners2, gray.shape
+    return None, None, None
+
+
+def zhang_calibration(images, size):
+    objpoints = []
+    imgpoints = []
+    for i, img in enumerate(images):
+        print("Processing image ", i)
+        objp, imgp, shape = find_img_points(img, size)
+        if objp is not None and imgp is not None:
+            objpoints.append(objp)
+            imgpoints.append(imgp)
+    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, shape[::-1], None, None)
+    return ret, mtx, dist, rvecs, tvecs, objpoints, imgpoints
+
+
+def predict_points_zhang(rvecs, tvecs, mtx, dist, world_points):
+    img_points = cv2.projectPoints(world_points, rvecs, tvecs, mtx, dist)
+    return img_points
+
+
+if __name__ == "__main__":
+    folder = "Assignment1_Data/"
+    image_names = ["IMG_5456.JPG", "IMG_5457.JPG", "IMG_5458.JPG", "IMG_5459.JPG", "IMG_5460.JPG",
+                   "IMG_5461.JPG", "IMG_5462.JPG", "IMG_5463.JPG", "IMG_5464.JPG", "IMG_5465.JPG",
+                   "IMG_5466.JPG", "IMG_5467.JPG", "IMG_5468.JPG", "IMG_5469.JPG", "IMG_5470.JPG"]
+    images = [cv2.imread(os.path.join(folder, x)) for x in image_names]
+
+    ret, mtx, dist, rvecs, tvecs, objpoints, imgpoints = zhang_calibration(images, size=(8, 6))
+    pred_points = predict_points_zhang(rvecs[-1], tvecs[-1], mtx, dist, objpoints[-1])[0].reshape(48, 2)
+    img = plot_points(images[-1], pred_points)
+
+    plt.imshow(img)
+    plt.show()
+    print(mtx)