improutils.perspective package

Submodules

improutils.perspective.coordconversion module

improutils.perspective.coord_conversion.convert_pt_from_homogenous(pt)

Convert input point in homogeneous coordinates to inhomogeneous.

Parameters:

pt (ndarray) – Input point in homogeneous coordinates.

Returns:

_ – Input point in inhomogeneous coordinates.

Return type:

tuple

improutils.perspective.coord_conversion.convert_pt_to_homogenous(pt)

Convert the input point from inhomogeneous coordinates to homogeneous ones.

Parameters:

pt (ndarray) – Input point in inhomogeneous coordinates.

Returns:

_ – Input point in homogeneous coordinates.

Return type:

ndarray

improutils.perspective.coord_conversion.convert_pts_from_homogenous(pts)

Convert input points in homogeneous coordinates to inhomogeneous.

Parameters:

pts (array_like, shape (n_points, n_dims + 1) in homogeneous coordinates.) – Input points in homogeneous coordinates.

Returns:

inhomogeneous_pts – Points in inhomogeneous coordinates.

Return type:

ndarray, shape (n_points, n_dims)

improutils.perspective.coord_conversion.convert_pts_to_homogenous(pts)

Convert input points from inhomogeneous to homogeneous coordinates.

Parameters:

pts (array_like, shape (n_points, n_dims)) – Inhomogeneous input points.

Returns:

homogeneous_pts – Points in homogeneous coordinates, with a 1 appended as the last component.

Return type:

ndarray, shape (n_points, n_dims + 1)

improutils.perspective.heightestimator module

class improutils.perspective.height_estimator.HeightEstimator(ref_measurements, vl, vz)

Bases: object

Estimate real world object height based on two points (top and bottom) measured on image plane.

calc_height(top_point, bottom_point)

Calculate real-world height from image-plane measurements.

Given the top and bottom points of an object in the image plane, this function estimates the real-world height of the object.

Parameters:

• top_point (ndarray) – Top point of the object in the reference direction, in inhomogeneous format.

• bottom_point (ndarray) – Ground plane point of the object in inhomogeneous format.

Returns:

Real-world height of the object.

Return type:

float

improutils.perspective.height_estimator.compute_vanishing_points(image, clip_factor=6, reestimate=False)

Rectified image with vanishing point computed using ransac.

Parameters:

• image (ndarray) – Image which has to be rectified.

• clip_factor (float, optional) – Proportion of image in multiples of image size to be retained if gone out of bounds after homography.

• reestimate (bool) – If ransac results are to be reestimated using least squares with inlers. Turn this off if getting bad results.

Returns:

warped_img – Rectified image.

Return type:

ndarray

Module contents

class improutils.perspective.HeightEstimator(ref_measurements, vl, vz)

Bases: object

Estimate real world object height based on two points (top and bottom) measured on image plane.

calc_height(top_point, bottom_point)

Calculate real-world height from image-plane measurements.

Given the top and bottom points of an object in the image plane, this function estimates the real-world height of the object.

Parameters:

• top_point (ndarray) – Top point of the object in the reference direction, in inhomogeneous format.

• bottom_point (ndarray) – Ground plane point of the object in inhomogeneous format.

Returns:

Real-world height of the object.

Return type:

float

improutils.perspective.compute_vanishing_points(image, clip_factor=6, reestimate=False)

Rectified image with vanishing point computed using ransac.

Parameters:

• image (ndarray) – Image which has to be rectified.

• clip_factor (float, optional) – Proportion of image in multiples of image size to be retained if gone out of bounds after homography.

• reestimate (bool) – If ransac results are to be reestimated using least squares with inlers. Turn this off if getting bad results.

Returns:

warped_img – Rectified image.

Return type:

ndarray

improutils.perspective.convert_pt_from_homogenous(pt)

Convert input point in homogeneous coordinates to inhomogeneous.

Parameters:

pt (ndarray) – Input point in homogeneous coordinates.

Returns:

_ – Input point in inhomogeneous coordinates.

Return type:

tuple

improutils.perspective.convert_pt_to_homogenous(pt)

Convert the input point from inhomogeneous coordinates to homogeneous ones.

Parameters:

pt (ndarray) – Input point in inhomogeneous coordinates.

Returns:

_ – Input point in homogeneous coordinates.

Return type:

ndarray

improutils.perspective.convert_pts_from_homogenous(pts)

Convert input points in homogeneous coordinates to inhomogeneous.

Parameters:

pts (array_like, shape (n_points, n_dims + 1) in homogeneous coordinates.) – Input points in homogeneous coordinates.

Returns:

inhomogeneous_pts – Points in inhomogeneous coordinates.

Return type:

ndarray, shape (n_points, n_dims)

improutils.perspective.convert_pts_to_homogenous(pts)

Convert input points from inhomogeneous to homogeneous coordinates.

Parameters:

pts (array_like, shape (n_points, n_dims)) – Inhomogeneous input points.

Returns:

homogeneous_pts – Points in homogeneous coordinates, with a 1 appended as the last component.

Return type:

ndarray, shape (n_points, n_dims + 1)