252 lines
7.4 KiB
Python
Executable File
252 lines
7.4 KiB
Python
Executable File
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#!/usr/bin/python2.7
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# -*- coding: utf-8 -*-
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# -*- mode: Python -*-
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'''
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LJay/LJ
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v0.7.0
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LICENCE : CC
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Sam Neurohack
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Homographies for align + swap corrections and warp corrections
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Align + swap homography if found with 4 original points and corrected coordinates
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Warp correction is disabled for the moment. Should be computed at warp edition : set 1 curve 1
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Use the :
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########################################################################
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# Module to compute homographies #
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# #
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# Author : Alexis Mignon #
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# email : alexis.mignon@info.unicaen.fr #
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# date : 10/03/2010 #
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########################################################################
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Module to compute homographies between two sets of 2D points
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implemented functions :
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- find_homography(points1,points2) : finds the homography between
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two sets of 2D points
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- find_affine_homography(points1,points2) : finds the affine
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homography between two sets of 2D points
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- apply_homography(H,points) : applies homography H to the set of
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2D points 'points'
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example :
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>>> from homography import *
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>>>
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>>> points1 = np.array([[ 0., 0. ],
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>>> [ 1., 0. ],
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>>> [ 0., 1. ],
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>>> [ 1., 1. ]])
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>>>
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>>> points2 = np.array([[ 0. , 0. ],
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>>> [ 1. , 0. ],
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>>> [ 0.25, 1. ],
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>>> [ 0.75, 1. ]])
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>>>
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>>> points3 = np.array([[-1., 0.],
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>>> [ 0.,-1.],
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>>> [ 0., 1.],
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>>> [ 1., 0.]])
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>>>
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>>> H1 = find_homography(points1,points2)
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>>> print H1
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>>> print apply_homography(H1,points1)
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>>> H2 = find_affine_homography(points1,points3)
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>>> print H2
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>>> print apply_homography(H2,points1)
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'''
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import numpy as np
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import math
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from scipy.linalg import svd,lstsq
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import ast
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import gstt
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#from globalVars import xy_center
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import redis
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r = redis.StrictRedis(host=gstt.LjayServerIP, port=6379, db=0)
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def find(points1,points2):
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if points1.shape[0] != points2.shape[0] : raise ValueError("The number of input and output points mismatches")
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if points1.shape[1] == 2 :
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p1 = np.ones((len(points1),3),'float64')
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p1[:,:2] = points1
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elif points1.shape[1] == 3 : p1 = points1
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else : raise ValueError("Bad shape for input points")
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if points2.shape[1] == 2 :
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p2 = np.ones((len(points2),3),'float64')
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p2[:,:2] = points2
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elif points2.shape[1] == 3 : p2 = points2
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else : raise ValueError("Bad shape for output points")
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npoints = len(points1)
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A = np.zeros((3*npoints,9),'float64')
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for i in xrange(npoints):
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p1i = p1[i]
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x2i,y2i,w2i = p2[i]
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xpi = x2i*p1i
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ypi = y2i*p1i
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wpi = w2i*p1i
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A[i*3 ,3:6] = -wpi
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A[i*3 ,6:9] = ypi
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A[i*3+1,0:3] = wpi
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A[i*3+1,6:9] = -xpi
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A[i*3+2,0:3] = -ypi
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A[i*3+2,3:6] = xpi
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U,s,Vt = svd(A,full_matrices = False, overwrite_a = True)
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del U,s
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h = Vt[-1]
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H = h.reshape(3,3)
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return H
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def find_affine(points1,points2):
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if points1.shape[0] != points2.shape[0] : raise ValueError("The number of input and output points mismatches")
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if points1.shape[1] == 2 :
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p1 = np.ones((len(points1),3),'float64')
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p1[:,:2] = points1
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elif points1.shape[1] == 3 : p1 = points1
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else : raise ValueError("Bad shape for input points")
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if points2.shape[1] == 2 :
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p2 = np.ones((len(points2),3),'float64')
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p2[:,:2] = points2
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elif points2.shape[1] == 3 : p2 = points2
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else : raise ValueError("Bad shape for output points")
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npoints = len(points1)
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A = np.zeros((3*npoints,6),'float64')
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b = np.zeros((3*npoints,1),'float64')
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for i in xrange(npoints):
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p1i = p1[i]
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x2i,y2i,w2i = p2[i]
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xpi = x2i*p1i
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ypi = y2i*p1i
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wpi = w2i*p1i
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A[i*3 ,3:6] = -wpi
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A[i*3+1,0:3] = wpi
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A[i*3+2,0:3] = -ypi
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A[i*3+2,3:6] = xpi
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b[i*3 ] = -y2i*p1i[2]
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b[i*3+1] = x2i*p1i[2]
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h = lstsq(A,b,overwrite_a = True, overwrite_b = True)[0]
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H = np.zeros( (3,3) , 'float64' )
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H[:2,:] = h.reshape(2,3)
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H[2,2] = 1
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return H
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def apply(H,points):
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p = np.ones((len(points),3),'float64')
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p[:,:2] = points
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pp = np.dot(p,H.T)
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pp[:,:2]/=pp[:,2].reshape(len(p),1)
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return pp[:,:2]
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# Align and axis swap corrections
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# Reference points
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pointsref = np.array([(300.0, 400.0), (500.0, 400.0), (500.0, 200.0), (300.0, 200.0)])
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def EDpoint(mylaser,(pygamex,pygamey)):
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#print "current point : ", pygamex, pygamey
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XX = pygamex - gstt.xy_center[0]
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YY = pygamey - gstt.xy_center[1]
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CosANGLE = math.cos(gstt.finANGLE[mylaser])
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SinANGLE = math.sin(gstt.finANGLE[mylaser])
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# Multilaser style
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x = (gstt.xy_center[0] + ((XX * CosANGLE) - (YY * SinANGLE)) - gstt.xy_center[0]) * gstt.zoomX[mylaser] + gstt.centerX[mylaser]
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y = (gstt.xy_center[1] + ((XX * SinANGLE) + (YY * CosANGLE)) - gstt.xy_center[1]) * gstt.zoomY[mylaser] + gstt.centerY[mylaser]
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if gstt.debug >0:
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#print "global center :", xy_center
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print "Laser :", mylaser, "center at : ", gstt.centerX[mylaser], gstt.centerY[mylaser]
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'''
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print "swaps : ", (gstt.swapX[mylaser]), str(gstt.swapY[mylaser])
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print "zooms : ", gstt.zoomX[mylaser], gstt.zoomY[mylaser]
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print "angles : ", gstt.finANGLE[mylaser]
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'''
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print "result : ", x * gstt.swapX[mylaser] , y * gstt.swapY[mylaser]
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return [x * gstt.swapX[mylaser] , y * gstt.swapY[mylaser]]
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'''
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def EDpoint((pygamex,pygamey)):
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XX = pygamex - xy_center[0]
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YY = pygamey - xy_center[1]
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CosANGLE = math.cos(finangle)
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SinANGLE = math.sin(finangle)
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# Multilaser style
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x = (xy_center[0] + ((XX * CosANGLE) - (YY * SinANGLE)) - xy_center[0]) * zoomx + centerx
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y = (xy_center[1] + ((XX * SinANGLE) + (YY * CosANGLE)) - xy_center[1]) * zoomy + centery
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return [x*1, y*1]
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'''
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# New total homography from always the same reference points : ED (= align + swap) transform + warp transform.
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# WARP IS DISABLED. Some bug tracking is needed !
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def newEDH(mylaser):
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EDpoints = []
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for point in xrange(4):
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EDpoints.append(EDpoint(mylaser,pointsref[point]))
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# H matrix tansform pygame points in Etherdream system with align and swap correction,
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H = find(pointsref, np.array(EDpoints))
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# Computer Hwarp matrix with previously reference warped points in configuration file.
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Hwarp = find(pointsref, gstt.warpdest[mylaser])
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#Hwarp = np.identity(3, dtype = float)
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# EDH matrix
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gstt.EDH[mylaser] = H
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# EDH matrix is H x Hwarp
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#gstt.EDH[mylaser] = np.dot(H,Hwarp)
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print "Laser",mylaser,"New EDH computed, sending to redis..."
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if r.set('/EDH/'+str(mylaser), np.array2string(gstt.EDH[mylaser], separator=',')) == True:
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r.set('/order/'+str(mylaser), 1)
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print "New EDH sent."
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else:
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print "New EDH not sent."
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'''
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# Laser bit 0 = 0 and bit 1 = 1 : New EDH
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order = r.get('/order')
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print order
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neworder = order & ~(1<< mylaser*2)
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neworder = neworder | (1<< 1+mylaser*2)
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r.set('/order', str(neworder))
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'''
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if gstt.debug >1:
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print ""
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print "laser ", mylaser
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print "reference points", pointsref
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print "laser EDpoints :", EDpoints
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print "-> Computed H :",H
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#print "warped points coordinates ", gstt.warpdest[mylaser]
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#print "-> Computed Hwarp", Hwarp
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#print "laser ", mylaser, "warpd ",ast.literal_eval(gstt.warpdest[gstt.Laser])
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#print "laser ", mylaser, "Hwarp ", Hwarp
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#print ""
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print "-> new EDH :", gstt.EDH[mylaser]
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