(i.e. a binding for a C++ class that is declared in MMVII_MyClass.h we'll be implemented in py_MMVII_MyClass.cpp) - - Class names are the same than in C++ but without the leading 'c' - - functions, methods, properties are the same than in C++ but with initial letter in lower case (and 'm' removed from class variables name) + - implement python binding in a .cpp files that matches th C++ header.
(i.e. a binding for a C++ class that is declared in MMVII_MyClass.h we'll be implemented in py_MMVII_MyClass.cpp) + - class names are the same as in C++ but without the leading 'c' + - functions, methods, properties are the same as in C++ but with initial letter in lower case (and 'm' removed from class variables names) diff --git a/MMVII/apib11/examples/ex_camera_ori.py b/MMVII/apib11/examples/ex_camera_ori.py index a4739d1b6d..dc59fc0eeb 100644 --- a/MMVII/apib11/examples/ex_camera_ori.py +++ b/MMVII/apib11/examples/ex_camera_ori.py @@ -1,9 +1,11 @@ -from MMVII import * +import MMVII # Prepare data: see MMVII/MMVII-TestDir/Input/Saisies-MMV1/readme.md dirData = '../../MMVII-TestDir/Input/Saisies-MMV1/' -cam = SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml') +imPath = dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml' + +cam = MMVII.SensorCamPC.fromFile(imPath) pose = cam.pose icalib = cam.internalCalib @@ -22,7 +24,7 @@ i2pp=pp2i.mapInverse() inv_proj=icalib.inv_Proj() -inv_dist=DataInvertOfMapping2D(icalib.dir_DistInvertible()) +inv_dist=MMVII.DataInvertOfMapping2D(icalib.dir_DistInvertible()) pCam = inv_proj.value(inv_dist.value(i2pp.value((pid[0], pid[1])))) pg = pose.value(pCam * (pid[2] / pCam[2])) @@ -49,3 +51,4 @@ print (pids, "=>" ) print (pid_calcs) + diff --git a/MMVII/apib11/examples/ex_test.py b/MMVII/apib11/examples/ex_test.py index fc73491164..5a34f7f900 100644 --- a/MMVII/apib11/examples/ex_test.py +++ b/MMVII/apib11/examples/ex_test.py @@ -1,44 +1,49 @@ -from MMVII import * +import MMVII import numpy as np # Prepare data: see MMVII/MMVII-TestDir/Input/Saisies-MMV1/readme.md dirData = '../../MMVII-TestDir/Input/Saisies-MMV1/' -calib=PerspCamIntrCalib.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml') +imPath = '../../MMVII-TestDir/Input/EPIP/Tiny/ImL.tif' +dirOri = dirData + 'MMVII-PhgrProj/Ori/toto/' +calibFilePath = dirOri + 'Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml' +oriFilePath = dirOri + 'Ori-PerspCentral-IMGP4168.JPG.xml' + +calib=MMVII.PerspCamIntrCalib.fromFile(calibFilePath) print(calib.infoParam()) pp0=(1,2,3) p0=(0,0) p1=np.array((5,6)) -box=Box2di(p0,p1) -box2=Box2di((-1,-1),(2,2)) -box3=Box3dr((-3,-3,-2.5),(3,3,2.5)) +box=MMVII.Box2di(p0,p1) +box2=MMVII.Box2di((-1,-1),(2,2)) +box3=MMVII.Box3dr((-3,-3,-2.5),(3,3,2.5)) -r=Rect2(box2) +r=MMVII.Rect2(box2) -m=Matrixr(10,10,ModeInitImage.eMIA_Rand) -mf=Matrixf(10,10,ModeInitImage.eMIA_Rand) +m=MMVII.Matrixr(10,10,MMVII.ModeInitImage.eMIA_Rand) +mf=MMVII.Matrixf(10,10,MMVII.ModeInitImage.eMIA_Rand) a=np.array(m,copy=False) -im=Im2Di.fromFile("../../MMVII-TestDir/Input/EPIP/Tiny/ImL.tif") +im=MMVII.Im2Di.fromFile(imPath) im_np=np.array(im,copy=False) -scpc=SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml') +scpc=MMVII.SensorCamPC.fromFile(oriFilePath) p=np.array([10,20,100]) diff=scpc.ground2ImageAndDepth(scpc.imageAndDepth2Ground(p))-p print("diff = ",diff) -k=Isometry3D((0,0,0),((1,0,0),(0,1,0),(0,0,1))) -r=Rotation3D(((1,0,0),(0,1,0),(0,0,1))) +k=MMVII.Isometry3D((0,0,0),((1,0,0),(0,1,0),(0,0,1))) +r=MMVII.Rotation3D(((1,0,0),(0,1,0),(0,0,1))) array = k.rot.array() print(array) -l = Isometry3D((0,0,0),array) +l = MMVII.Isometry3D((0,0,0),array) print (k == l) print (k.rot == r) @@ -49,11 +54,11 @@ print (np.array_equal(k.tr,(0,0,0))) n = np.array( [ [1, 2, 3], [4, 5, 6] ] ) -m = Matrixr(n) +m = MMVII.Matrixr(n) print( np.array_equal( (n-m), (m-n) )) -m = Matrixr( [ [1, 2], [3, 4] ] ) +m = MMVII.Matrixr( [ [1, 2], [3, 4] ] ) n = np.array(m) print(n@m) @@ -61,7 +66,7 @@ (m@m).show() p = ([8,9]) -v = Vectorr(p) +v = MMVII.Vectorr(p) print(v) print(m@p) print(n@p) diff --git a/MMVII/apib11/examples/ex_tp_cam.py b/MMVII/apib11/examples/ex_tp_cam.py index 13a55003b8..f20891379e 100644 --- a/MMVII/apib11/examples/ex_tp_cam.py +++ b/MMVII/apib11/examples/ex_tp_cam.py @@ -1,85 +1,66 @@ -from MMVII import * +import MMVII import matplotlib.pyplot as plt import matplotlib.image as mpimg """ - TP photogra + TP photogrammetry Data from MurSaintMartin Prepare data: see MMVII/MMVII-TestDir/Input/Saisies-MMV1/readme.md """ dirData = '../../MMVII-TestDir/Input/Saisies-MMV1/' +dirOri = dirData + 'MMVII-PhgrProj/Ori/toto/' +dirPts = dirData + 'MMVII-PhgrProj/PointsMeasure/Saisies_MMVII/' +imNames = ('IMGP4168.JPG', 'IMGP4169.JPG') -# from Ground-Pts3D.xml -pts3d = { - 'I-of-I': (0.754045221758523621, 0.496427193197002514, 0.431416432371162006), - 'Acute': (0.898750585424819226, 1.10409507249266081, 0.444680581722013746), - 'Finger-1': (1.31771333753878528, 0.989188464947304724, 0.370627429238321537), - 'Stone-6': (0.150697933447584281, 1.10818337179321613, 0.773464897817899177), - 'Stone-7': (0.256396378205514475, 2.35318759021626445, 2.23887785258234207), - 'Grille': (1.40207519252831658, 2.1945458898399548, 0.40382985984277503) -} - -# from GroundMeasure.xml -pts2d = { - 'IMGP4168.JPG' : { - 'I-of-I': (430.52658272147653, 227.090326619720145), - 'u-of-You': (495.717626755149013, 454.825546116027397), - 'Acute': (431.735281413390453, 510.222991095907105), - 'Finger-1': (316.373353330086218, 471.678176822389275), - 'Stone-6': (667.402028214032839, 479.731591690534685), - 'Stone-7': (1284.05120739189965, 981.021140912616147), - 'Grille': (362.602015084684353, 1078.96450589692108) - }, - 'IMGP4169.JPG' : { - 'I-of-I': (475.161154787777321, 516.404520623212079), - 'u-of-You': (538.999416573275425, 732.995393503311675), - 'Acute': (475.850364860953221, 802.548038024082189), - 'Finger-1': (362.721106696891582, 789.307120972098687), - 'Stone-6': (706.139274179003905, 741.525951210447488) - } -} +# 3D points +pts3d = MMVII.SetMesGCP.fromFile(dirPts + 'MesGCP-FromV1-Ground-Pts3D.xml') + +# 2D points +pts2d = {} +for imName in imNames: + pts2d[imName] = MMVII.SetMesPtOf1Im.fromFile(dirPts + 'MesIm-' + imName + '.xml') ######################################################## # 1 - Read Calib, apply it ######################################################## - - -imName1 = 'IMGP4168.JPG' - +imName1 = imNames[0] # Show 2d points plt.title('Read 2d points') -allX, allY = zip(*pts2d[imName1].values()) +allX, allY = zip(*[ mes.pt for mes in pts2d[imName1].measures()]) img = mpimg.imread(dirData + imName1) plt.imshow(img) plt.scatter(allX, allY, 30) plt.show() # apply calibration -calib = PerspCamIntrCalib.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml') +calibPath = dirOri + 'Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml' +calib = MMVII.PerspCamIntrCalib.fromFile(calibPath) dist = calib.dir_Dist() pp2i = calib.mapPProj2Im() i2pp = pp2i.mapInverse() -inv_dist = DataInvertOfMapping2D(calib.dir_DistInvertible()) +inv_dist = MMVII.DataInvertOfMapping2D(calib.dir_DistInvertible()) -for name, pt in pts2d[imName1].items(): +for mes in pts2d[imName1].measures(): + pt = mes.pt print('Pt im: ', pt) print(' -> central with disto: ', i2pp.value(pt)) print(' -> central no disto: ', inv_dist.value(i2pp.value(pt))) print(' -> lig/col no disto: ', pp2i.value(inv_dist.value(i2pp.value(pt)))) -def myPP2I(calib: PerspCamIntrCalib, pt_central: tuple) -> tuple: +def myPP2I(calib: MMVII.PerspCamIntrCalib, pt_central: tuple) -> tuple: # TODO, see doc 3.2 pass -def myDist(calib: PerspCamIntrCalib, pt_central: tuple) -> tuple: +def myDist(calib: MMVII.PerspCamIntrCalib, pt_central: tuple) -> tuple: # TODO, see doc ... pass print('Test myPP2I:') -for name, pt in pts2d[imName1].items(): +for mes in pts2d[imName1].measures(): + pt = mes.pt print('Pt im: ', pt) pt_central = i2pp.value(pt) print(' -> central with disto: ', pt_central) @@ -87,22 +68,21 @@ def myDist(calib: PerspCamIntrCalib, pt_central: tuple) -> tuple: print('Test myDist:') -for name, pt in pts2d[imName1].items(): +for mes in pts2d[imName1].measures(): + pt = mes.pt print('Pt im: ', pt) pt_central_nodist = inv_dist.value(i2pp.value(pt)) print(' -> central no disto: ', pt_central_nodist) print(' -> my central with disto: ', myDist(dist, pt_central_nodist)) - - ######################################################## # 2 - Read Ori, projection ######################################################## -cam1= SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-'+imName1+'.xml') +cam1= MMVII.SensorCamPC.fromFile(dirOri + 'Ori-PerspCentral-'+imName1+'.xml') # project ground points on image -allX, allY,_ = zip(*map(cam1.ground2ImageAndDepth,pts3d.values())) +allX, allY,_ = zip(*map(cam1.ground2ImageAndDepth,[mes.pt for mes in pts3d.measures()])) plt.title('Projected 3d points') img = mpimg.imread(dirData + imName1) @@ -110,12 +90,14 @@ def myDist(calib: PerspCamIntrCalib, pt_central: tuple) -> tuple: plt.scatter(allX, allY, 30) plt.show() -def myGround2ImageAndDepth(camPose: Isometry3D, calib: PerspCamIntrCalib, pt3d: tuple) -> tuple: +def myGround2ImageAndDepth(camPose: MMVII.Isometry3D, + calib: MMVII.PerspCamIntrCalib, + pt3d: tuple) -> tuple: # TODO, see doc 3.2 pass print('Test myGround2ImageAndDepth') -for name, pt in pts3d.items(): +for pt in [mes.pt for mes in pts3d.measures()]: print('Proj MM: ', cam1.ground2ImageAndDepth(pt)) print('My proj: ', myGround2ImageAndDepth(cam1.pose, cam1.internalCalib, pt)) @@ -124,34 +106,40 @@ def myGround2ImageAndDepth(camPose: Isometry3D, calib: PerspCamIntrCalib, pt3d: ######################################################## # Second image -imName2 = 'IMGP4169.JPG' -cam2= SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-'+imName2+'.xml') +imName2 = imNames[1] +cam2= MMVII.SensorCamPC.fromFile(dirOri + 'Ori-PerspCentral-'+imName2+'.xml') # Compute 2d points without disortion pts2d_nodist = {} for imName in pts2d.keys(): pts2d_nodist[imName] = {} - for name, pt in pts2d[imName].items(): + for mes in pts2d[imName].measures(): + name = mes.namePt + pt = mes.pt pts2d_nodist[imName][name] = list(inv_dist.value(i2pp.value(pt))) # TODO: compute 3d coordinates of common points -def myPseudoIntersect(cam1: SensorCamPC, pt2d1: tuple, cam2: SensorCamPC, pt2d2: tuple) -> tuple: +def myPseudoIntersect(cam1: MMVII.SensorCamPC, pt2d1: tuple, + cam2: MMVII.SensorCamPC, pt2d2: tuple) -> tuple: # TODO, see doc 3.2 pass print('Test myPseudoIntersect') # apply to common points between im1 and im2 -for ptName, pt1 in pts2d[imName1].items(): - if not ptName in pts3d : +for mes in pts2d[imName1].measures(): + ptName = mes.namePt + pt1 = mes.pt + if not ptName in [mes.namePt for mes in pts3d.measures()] : continue - if not ptName in pts2d[imName2] : + if not pts2d[imName2].nameHasMeasure(ptName): continue - pt2 = pts2d[imName2][ptName] - print(ptName, ': GND =', pts3d[ptName]) + pt2 = pts2d[imName2].measuresOfName(ptName) + # for now, there is no pts3d.measuresOfName() + ground_coords = {mes.namePt:mes.pt for mes in pts3d.measures()}[ptName] + print(ptName, ': GND =', ground_coords) print('Pseudo-intersection: ', myPseudoIntersect(cam1, pt1, cam2, pt2)) - ######################################################## # 4 - Orientation from known points ######################################################## @@ -159,5 +147,3 @@ def myPseudoIntersect(cam1: SensorCamPC, pt2d1: tuple, cam2: SensorCamPC, pt2d2: # recompute orientation from 4 2d/3d points # TODO - -