Mercurial Hosting > traffic-intelligence
annotate python/cvutils.py @ 894:0c1fed9e8862
updated requirements.txt, removed minor PIL dependency
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 01 Jun 2017 10:33:07 -0400 |
parents | ff92801e5c54 |
children | 739acd338cc0 |
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28 | 1 #! /usr/bin/env python |
2 '''Image/Video utilities''' | |
3 | |
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4 import utils, moving |
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5 |
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6 try: |
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7 import cv2 |
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8 opencvAvailable = True |
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9 except ImportError: |
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10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module |
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11 opencvAvailable = False |
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12 try: |
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13 import skimage |
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14 skimageAvailable = True |
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15 except ImportError: |
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16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)') |
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17 skimageAvailable = False |
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18 |
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19 from sys import stdout, maxint |
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20 from os import listdir |
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21 from copy import deepcopy |
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22 from math import floor, log10, ceil |
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23 |
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24 from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil |
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25 from matplotlib.mlab import find |
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26 from matplotlib.pyplot import imread, imsave |
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27 |
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28 |
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29 |
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30 #import aggdraw # agg on top of PIL (antialiased drawing) |
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31 |
28 | 32 |
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33 cvRed = {'default': (0,0,255), |
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34 'colorblind': (0,114,178)} |
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35 cvGreen = {'default': (0,255,0), |
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36 'colorblind': (0,158,115)} |
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37 cvBlue = {'default': (255,0,0), |
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38 'colorblind': (213,94,0)} |
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39 cvCyan = {'default': (255, 255, 0), |
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40 'colorblind': (240,228,66)} |
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41 cvYellow = {'default': (0, 255, 255), |
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42 'colorblind': (86,180,233)} |
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43 cvMagenta = {'default': (255, 0, 255), |
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44 'colorblind': (204,121,167)} |
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45 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']} |
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46 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']} |
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47 |
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48 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']} |
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49 cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']} |
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50 |
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51 def quitKey(key): |
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52 return chr(key&255)== 'q' or chr(key&255) == 'Q' |
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53 |
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54 def saveKey(key): |
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55 return chr(key&255) == 's' |
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56 |
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57 def int2FOURCC(x): |
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58 fourcc = '' |
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59 for i in xrange(4): |
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60 fourcc += unichr((x >> 8*i)&255) |
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61 return fourcc |
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62 |
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63 def rgb2gray(rgb): |
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64 return dot(rgb[...,:3], [0.299, 0.587, 0.144]) |
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65 |
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66 def matlab2PointCorrespondences(filename): |
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67 '''Loads and converts the point correspondences saved |
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68 by the matlab camera calibration tool''' |
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69 points = loadtxt(filename, delimiter=',') |
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70 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0)) |
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71 |
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72 def loadPointCorrespondences(filename): |
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73 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)''' |
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74 points = loadtxt(filename, dtype=float32) |
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75 return (points[:2,:].T, points[2:,:].T) # (world points, image points) |
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76 |
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77 def cvMatToArray(cvmat): |
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78 '''Converts an OpenCV CvMat to numpy array.''' |
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79 print('Deprecated, use new interface') |
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80 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height) |
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81 for i in xrange(cvmat.rows): |
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82 for j in xrange(cvmat.cols): |
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83 a[i,j] = cvmat[i,j] |
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84 return a |
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85 |
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86 def createWhiteImage(height, width, filename): |
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87 img = ones((height, width, 3), uint8)*255 |
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88 imsave(filename, img) |
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89 |
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90 if opencvAvailable: |
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91 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0): |
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92 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' |
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93 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) |
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94 return H |
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95 |
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96 def arrayToCvMat(a, t = cv2.CV_64FC1): |
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97 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.''' |
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98 print('Deprecated, use new interface') |
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99 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t) |
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100 for i in range(cvmat.rows): |
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101 for j in range(cvmat.cols): |
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102 cvmat[i,j] = a[i,j] |
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103 return cvmat |
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104 |
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105 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs): |
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106 if lastCoordinate is None: |
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107 last = positions.length()-1 |
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108 elif lastCoordinate >=0: |
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109 last = min(positions.length()-1, lastCoordinate) |
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110 for i in range(0, last): |
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111 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs) |
203
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112 |
385
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113 def cvImshow(windowName, img, rescale = 1.0): |
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114 'Rescales the image (in particular if too large)' |
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115 from cv2 import resize |
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116 if rescale != 1.: |
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117 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale))) |
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118 resizedImg = resize(img, size) |
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119 cv2.imshow(windowName, resizedImg) |
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120 else: |
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121 cv2.imshow(windowName, img) |
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122 |
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123 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients): |
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124 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication))) |
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125 newCameraMatrix = deepcopy(intrinsicCameraMatrix) |
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126 newCameraMatrix[0,2] = newImgSize[0]/2. |
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127 newCameraMatrix[1,2] = newImgSize[1]/2. |
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128 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1) |
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129 |
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130 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False): |
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131 '''Plays the video(s)''' |
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132 if colorBlind: |
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133 colorType = 'colorblind' |
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134 else: |
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135 colorType = 'default' |
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136 if len(filenames) == 0: |
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137 print('Empty filename list') |
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138 return |
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139 if windowNames is None: |
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140 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))] |
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141 wait = 5 |
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several updates for display
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diff
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142 if rescale == 1.: |
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143 for windowName in windowNames: |
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144 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) |
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145 if frameRate > 0: |
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146 wait = int(round(1000./frameRate)) |
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147 if interactive: |
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148 wait = 0 |
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149 captures = [cv2.VideoCapture(fn) for fn in filenames] |
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150 if array([cap.isOpened() for cap in captures]).all(): |
149
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151 key = -1 |
227
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152 ret = True |
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153 nFramesShown = 0 |
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154 if firstFrameNums is not None: |
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155 for i in xrange(len(captures)): |
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156 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]) |
305
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157 while ret and not quitKey(key): |
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158 rets = [] |
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159 images = [] |
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160 for cap in captures: |
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161 ret, img = cap.read() |
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162 rets.append(ret) |
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163 images.append(img) |
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164 if array(rets).all(): |
381
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165 if printFrames: |
821
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166 print('frame shown {0}'.format(nFramesShown)) |
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167 for i in xrange(len(filenames)): |
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168 if text is not None: |
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169 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType]) |
821
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diff
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170 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img) |
305
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diff
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171 key = cv2.waitKey(wait) |
625
9202628a4130
saving image when playing video
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549
diff
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|
172 if saveKey(key): |
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saving image when playing video
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173 cv2.imwrite('image-{}.png'.format(frameNum), img) |
821
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diff
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|
174 nFramesShown += step |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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diff
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175 if step > 1: |
821
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diff
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176 for i in xrange(len(captures)): |
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177 captures.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown) |
346
5f75d6c23ed5
added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
319
diff
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|
178 cv2.destroyAllWindows() |
435
17185fe77316
added error messages if video not opened
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diff
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179 else: |
820
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180 print('Video captures for {} failed'.format(filenames)) |
149
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diff
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181 |
657
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182 def infoVideo(filename): |
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183 '''Provides all available info on video ''' |
807
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184 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format", |
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185 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)", |
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186 cv2.cv.CV_CAP_PROP_FPS: "fps", |
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187 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames", |
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188 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh", |
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189 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width", |
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190 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification", |
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191 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"} |
657
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diff
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192 capture = cv2.VideoCapture(filename) |
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193 if capture.isOpened(): |
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194 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS |
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195 #cv2.cv.CV_CAP_PROP_CONTRAST |
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196 #cv2.cv.CV_CAP_PROP_CONVERT_RGB |
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197 #cv2.cv.CV_CAP_PROP_EXPOSURE |
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198 cv2.cv.CV_CAP_PROP_FORMAT, |
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199 cv2.cv.CV_CAP_PROP_FOURCC, |
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200 cv2.cv.CV_CAP_PROP_FPS, |
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201 cv2.cv.CV_CAP_PROP_FRAME_COUNT, |
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202 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, |
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203 cv2.cv.CV_CAP_PROP_FRAME_WIDTH, |
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204 #cv2.cv.CV_CAP_PROP_GAIN, |
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205 #cv2.cv.CV_CAP_PROP_HUE |
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206 #cv2.cv.CV_CAP_PROP_MODE |
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207 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO |
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208 #cv2.cv.CV_CAP_PROP_POS_FRAMES |
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209 #cv2.cv.CV_CAP_PROP_POS_MSEC |
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210 #cv2.cv.CV_CAP_PROP_RECTIFICATION, |
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211 #cv2.cv.CV_CAP_PROP_SATURATION |
657
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diff
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212 ]: |
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213 prop = capture.get(cvprop) |
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214 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0: |
657
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parents:
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diff
changeset
|
215 prop = int2FOURCC(int(prop)) |
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added script printing video info
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diff
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216 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop)) |
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diff
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|
217 else: |
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diff
changeset
|
218 print('Video capture for {} failed'.format(filename)) |
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diff
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219 |
798
5b99b676265e
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parents:
788
diff
changeset
|
220 def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'): |
396
167f6ec44ec5
cleaned function to save images
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parents:
393
diff
changeset
|
221 '''Returns nFrames images from the video sequence''' |
150
404f3cade05f
added python function to get image frames from video filenames
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parents:
149
diff
changeset
|
222 images = [] |
396
167f6ec44ec5
cleaned function to save images
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parents:
393
diff
changeset
|
223 capture = cv2.VideoCapture(videoFilename) |
398
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
224 if capture.isOpened(): |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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parents:
799
diff
changeset
|
225 rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT) |
680
da1352b89d02
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diff
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|
226 if rawCount < 0: |
798
5b99b676265e
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parents:
788
diff
changeset
|
227 rawCount = lastFrameNum+1 |
680
da1352b89d02
classification is working
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parents:
673
diff
changeset
|
228 nDigits = int(floor(log10(rawCount)))+1 |
150
404f3cade05f
added python function to get image frames from video filenames
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parents:
149
diff
changeset
|
229 ret = False |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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parents:
799
diff
changeset
|
230 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) |
798
5b99b676265e
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
788
diff
changeset
|
231 frameNum = firstFrameNum |
858
2faabcbde2c4
minor improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
821
diff
changeset
|
232 while frameNum<lastFrameNum and frameNum<rawCount: |
171
8e7b354666ec
corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
160
diff
changeset
|
233 ret, img = capture.read() |
216
51acf43e421a
modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
204
diff
changeset
|
234 i = 0 |
51acf43e421a
modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
204
diff
changeset
|
235 while not ret and i<10: |
150
404f3cade05f
added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
149
diff
changeset
|
236 ret, img = capture.read() |
216
51acf43e421a
modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
204
diff
changeset
|
237 i += 1 |
799
0662c87a61c9
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
798
diff
changeset
|
238 if img is not None and img.size>0: |
216
51acf43e421a
modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
204
diff
changeset
|
239 if saveImage: |
798
5b99b676265e
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
788
diff
changeset
|
240 frameNumStr = format(frameNum, '0{}d'.format(nDigits)) |
5b99b676265e
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
788
diff
changeset
|
241 cv2.imwrite(outputPrefix+frameNumStr+'.png', img) |
216
51acf43e421a
modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
204
diff
changeset
|
242 else: |
51acf43e421a
modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
204
diff
changeset
|
243 images.append(img) |
798
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parents:
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diff
changeset
|
244 frameNum +=step |
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modified to get images very time step
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parents:
788
diff
changeset
|
245 if step > 1: |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
799
diff
changeset
|
246 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) |
398
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents:
396
diff
changeset
|
247 capture.release() |
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents:
396
diff
changeset
|
248 else: |
435
17185fe77316
added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
429
diff
changeset
|
249 print('Video capture for {} failed'.format(videoFilename)) |
150
404f3cade05f
added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
149
diff
changeset
|
250 return images |
398
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
251 |
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parents:
396
diff
changeset
|
252 def getFPS(videoFilename): |
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parents:
396
diff
changeset
|
253 capture = cv2.VideoCapture(videoFilename) |
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Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
254 if capture.isOpened(): |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
799
diff
changeset
|
255 fps = capture.get(cv2.cv.CV_CAP_PROP_FPS) |
398
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
256 capture.release() |
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
257 return fps |
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Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
258 else: |
435
17185fe77316
added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
429
diff
changeset
|
259 print('Video capture for {} failed'.format(videoFilename)) |
398
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents:
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diff
changeset
|
260 return None |
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents:
396
diff
changeset
|
261 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
673
diff
changeset
|
262 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800): |
416
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
263 'Computes the bounding box of object at frameNum' |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
410
diff
changeset
|
264 x = [] |
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
410
diff
changeset
|
265 y = [] |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
658
diff
changeset
|
266 if obj.hasFeatures(): |
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some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
658
diff
changeset
|
267 for f in obj.getFeatures(): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
658
diff
changeset
|
268 if f.existsAtInstant(frameNum): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
658
diff
changeset
|
269 projectedPosition = f.getPositionAtInstant(frameNum).project(homography) |
dc70d9e711f5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
658
diff
changeset
|
270 x.append(projectedPosition.x) |
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some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
658
diff
changeset
|
271 y.append(projectedPosition.y) |
416
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
272 xmin = min(x) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
273 xmax = max(x) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
274 ymin = min(y) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
275 ymax = max(y) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
276 xMm = px * (xmax - xmin) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
277 yMm = py * (ymax - ymin) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
278 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm)) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
279 yCropMin = int(max(0, .5 * (ymin + ymax - a))) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
280 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a))) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
281 xCropMin = int(max(0, .5 * (xmin + xmax - a))) |
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
282 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a))) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
673
diff
changeset
|
283 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels: |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
515
diff
changeset
|
284 croppedImg = img[yCropMin : yCropMax, xCropMin : xCropMax] |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
410
diff
changeset
|
285 else: |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
286 croppedImg = None |
548 | 287 return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
410
diff
changeset
|
288 |
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
410
diff
changeset
|
289 |
868
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
864
diff
changeset
|
290 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, nZerosFilenameArg = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}, colorBlind = False): |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
171
diff
changeset
|
291 '''Displays the objects overlaid frame by frame over the video ''' |
868
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
864
diff
changeset
|
292 if colorBlind: |
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
864
diff
changeset
|
293 colorType = 'colorblind' |
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
864
diff
changeset
|
294 else: |
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
864
diff
changeset
|
295 colorType = 'default' |
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
864
diff
changeset
|
296 |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
171
diff
changeset
|
297 capture = cv2.VideoCapture(videoFilename) |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
799
diff
changeset
|
298 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) |
52aa03260f03
reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
799
diff
changeset
|
299 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
300 |
544
749672171789
added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
538
diff
changeset
|
301 windowName = 'frame' |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
302 if rescale == 1.: |
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
303 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) |
544
749672171789
added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
538
diff
changeset
|
304 |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
305 if undistort: # setup undistortion |
510
b0dac840c24f
compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
306 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
171
diff
changeset
|
307 if capture.isOpened(): |
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
171
diff
changeset
|
308 key = -1 |
227
b7612c6d5702
cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
226
diff
changeset
|
309 ret = True |
b7612c6d5702
cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
226
diff
changeset
|
310 frameNum = firstFrameNum |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
799
diff
changeset
|
311 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
312 if lastFrameNumArg is None: |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
313 lastFrameNum = maxint |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
314 else: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
315 lastFrameNum = lastFrameNumArg |
864 | 316 if nZerosFilenameArg is None: |
317 nZerosFilename = int(ceil(log10(lastFrameNum))) | |
318 else: | |
319 nZerosFilename = nZerosFilenameArg | |
725
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
320 objectToDeleteIds = [] |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
625
diff
changeset
|
321 while ret and not quitKey(key) and frameNum <= lastFrameNum: |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
171
diff
changeset
|
322 ret, img = capture.read() |
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
171
diff
changeset
|
323 if ret: |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
324 if undistort: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
325 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) |
381
387cc0142211
script to replay event annotations
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parents:
365
diff
changeset
|
326 if printFrames: |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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365
diff
changeset
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327 print('frame {0}'.format(frameNum)) |
725
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
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parents:
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diff
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|
328 if len(objectToDeleteIds) > 0: |
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685
diff
changeset
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329 objects = [o for o in objects if o.getNum() not in objectToDeleteIds] |
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diff
changeset
|
330 objectToDeleteIds = [] |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
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parents:
725
diff
changeset
|
331 # plot objects |
203
e2f31813ade6
added code to display trajectories on videa
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parents:
171
diff
changeset
|
332 for obj in objects: |
e2f31813ade6
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parents:
171
diff
changeset
|
333 if obj.existsAtInstant(frameNum): |
725
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
334 if obj.getLastInstant() == frameNum: |
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parents:
685
diff
changeset
|
335 objectToDeleteIds.append(obj.getNum()) |
236
eb4525853030
added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
336 if not hasattr(obj, 'projectedPositions'): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
337 if homography is not None: |
218
b5772df11b37
corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
216
diff
changeset
|
338 obj.projectedPositions = obj.positions.project(homography) |
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corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
216
diff
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339 else: |
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corrected bugs to load objects and display trajectories over videos
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diff
changeset
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340 obj.projectedPositions = obj.positions |
868
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
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diff
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341 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant()) |
725
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diff
changeset
|
342 if frameNum not in boundingBoxes.keys() and obj.hasFeatures(): |
416
8fdbc13dad8b
cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
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343 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height) |
868
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diff
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344 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1) |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
410
diff
changeset
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345 objDescription = '{} '.format(obj.num) |
769
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diff
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346 if moving.userTypeNames[obj.userType] != 'unknown': |
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diff
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347 objDescription += moving.userTypeNames[obj.userType][0].upper() |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
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diff
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348 if len(annotations) > 0: # if we loaded annotations, but there is no match |
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diff
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349 if frameNum not in toMatches[obj.getNum()]: |
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350 objDescription += " FA" |
868
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diff
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351 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()]) |
725
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parents:
685
diff
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|
352 # plot object bounding boxes |
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parents:
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diff
changeset
|
353 if frameNum in boundingBoxes.keys(): |
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parents:
685
diff
changeset
|
354 for rect in boundingBoxes[frameNum]: |
868
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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355 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()]) |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
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parents:
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diff
changeset
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356 # plot ground truth |
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diff
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357 if len(annotations) > 0: |
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added functionality to display matchings between ground truth and tracked objects
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diff
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358 for gt in annotations: |
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diff
changeset
|
359 if gt.existsAtInstant(frameNum): |
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added functionality to display matchings between ground truth and tracked objects
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parents:
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diff
changeset
|
360 if frameNum in gtMatches[gt.getNum()]: |
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added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
361 color = cvColors[colorType][gtMatches[gt.getNum()][frameNum]] # same color as object |
726
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added functionality to display matchings between ground truth and tracked objects
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parents:
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diff
changeset
|
362 else: |
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1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
363 color = cvRed[colorType] |
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
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parents:
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diff
changeset
|
364 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, color) |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
725
diff
changeset
|
365 cv2.rectangle(img, gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), gt.bottomRightPositions[frameNum-gt.getFirstInstant()].asint().astuple(), color) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
725
diff
changeset
|
366 # saving images and going to next |
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
478
diff
changeset
|
367 if not saveAllImages: |
544
749672171789
added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
538
diff
changeset
|
368 cvImshow(windowName, img, rescale) |
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
478
diff
changeset
|
369 key = cv2.waitKey() |
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
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parents:
478
diff
changeset
|
370 if saveAllImages or saveKey(key): |
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
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parents:
478
diff
changeset
|
371 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img) |
478
d337bffd7283
Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
474
diff
changeset
|
372 frameNum += nFramesStep |
d337bffd7283
Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
474
diff
changeset
|
373 if nFramesStep > 1: |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
799
diff
changeset
|
374 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) |
346
5f75d6c23ed5
added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
319
diff
changeset
|
375 cv2.destroyAllWindows() |
435
17185fe77316
added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
429
diff
changeset
|
376 else: |
774 | 377 print('Cannot load file ' + videoFilename) |
402
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
378 |
639
4e7925cb4f8f
modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
638
diff
changeset
|
379 def computeHomographyFromPDTV(camera): |
4e7925cb4f8f
modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
638
diff
changeset
|
380 '''Returns the homography matrix at ground level from PDTV camera |
402
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
381 https://bitbucket.org/hakanardo/pdtv''' |
639
4e7925cb4f8f
modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
638
diff
changeset
|
382 # camera = pdtv.load(cameraFilename) |
402
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
383 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!! |
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
384 dstPoints = [] |
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
385 for srcPoint in srcPoints: |
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
386 projected = camera.image_to_world(tuple(srcPoint)) |
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
387 dstPoints.append([projected[0], projected[1]]) |
638
852f5de42d01
added functionality to read Aliaksei Tsai camera model data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
388 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method = 0) # No need for different methods for finding homography |
402
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
389 return H |
f29204e68aab
function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
398
diff
changeset
|
390 |
474
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
391 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.): |
468
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
392 '''Returns the coordinates of a point in undistorted image |
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
393 map1 and map2 are the mapping functions from undistorted image |
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
394 to distorted (original image) |
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
395 map1(x,y) = originalx, originaly''' |
769
dfdb2a3722cc
moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
766
diff
changeset
|
396 distx = npabs(map1-x) |
dfdb2a3722cc
moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
766
diff
changeset
|
397 disty = npabs(map2-y) |
472
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
398 indices = logical_and(distx<maxDistance, disty<maxDistance) |
468
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
399 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x |
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
400 xWeights = 1-distx[indices] |
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
401 yWeights = 1-disty[indices] |
769
dfdb2a3722cc
moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
766
diff
changeset
|
402 return dot(xWeights, closeCoordinates[1])/npsum(xWeights), dot(yWeights, closeCoordinates[0])/npsum(yWeights) |
468
5304299e53a5
added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
435
diff
changeset
|
403 |
474
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
404 def undistortTrajectoryFromCVMapping(map1, map2, t): |
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
405 '''test 'perfect' inversion''' |
769
dfdb2a3722cc
moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
766
diff
changeset
|
406 undistortedTrajectory = moving.Trajectory() |
474
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
407 for i,p in enumerate(t): |
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
408 res = undistortedCoordinates(map1, map2, p.x,p.y) |
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
409 if not isnan(res).any(): |
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
410 undistortedTrajectory.addPositionXY(res[0], res[1]) |
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
411 else: |
774 | 412 print('{} {} {}'.format(i,p,res)) |
474
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
413 return undistortedTrajectory |
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
414 |
472
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
415 def computeInverseMapping(originalImageSize, map1, map2): |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
416 'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap' |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
417 invMap1 = -ones(originalImageSize) |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
418 invMap2 = -ones(originalImageSize) |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
419 for x in range(0,originalImageSize[1]): |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
420 for y in range(0,originalImageSize[0]): |
474
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
421 res = undistortedCoordinates(x,y, map1, map2) |
472
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
422 if not isnan(res).any(): |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
423 invMap1[y,x] = res[0] |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
424 invMap2[y,x] = res[1] |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
425 return invMap1, invMap2 |
a50c026fdf14
functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
468
diff
changeset
|
426 |
544
749672171789
added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
538
diff
changeset
|
427 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False): |
749672171789
added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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428 ''' Camera calibration searches through all the images (jpg or png) located |
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429 in _path_ for matches to a checkerboard pattern of size checkboardSize. |
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430 These images should all be of the same camera with the same resolution. |
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431 |
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432 For best results, use an asymetric board and ensure that the image has |
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433 very high contrast, including the background. Suitable checkerboard: |
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434 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png |
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435 |
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436 The code below is based off of: |
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437 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html |
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438 Modified by Paul St-Aubin |
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439 ''' |
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440 import glob, os |
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441 |
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442 # termination criteria |
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443 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) |
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444 |
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445 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) |
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446 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32) |
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447 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2) |
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448 |
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449 # Arrays to store object points and image points from all the images. |
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450 objpoints = [] # 3d point in real world space |
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451 imgpoints = [] # 2d points in image plane. |
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452 |
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453 ## Loop throuhg all images in _path_ |
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454 images = glob.glob(os.path.join(path,'*.[jJ][pP][gG]'))+glob.glob(os.path.join(path,'*.[jJ][pP][eE][gG]'))+glob.glob(os.path.join(path,'*.[pP][nN][gG]')) |
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455 for fname in images: |
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456 img = cv2.imread(fname) |
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457 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) |
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458 |
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459 # Find the chess board corners |
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460 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None) |
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461 |
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462 # If found, add object points, image points (after refining them) |
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463 if ret: |
774 | 464 print('Found pattern in '+fname) |
544
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465 |
772
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466 if secondPassSearch: |
544
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467 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria) |
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468 |
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469 objpoints.append(objp) |
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470 imgpoints.append(corners) |
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471 |
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472 # Draw and display the corners |
772
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473 if display: |
544
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474 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret) |
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475 if img is not None: |
544
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476 cv2.imshow('img',img) |
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477 cv2.waitKey(0) |
774 | 478 else: |
479 print('Pattern not found in '+fname) | |
544
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480 ## Close up image loading and calibrate |
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481 cv2.destroyAllWindows() |
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482 if len(objpoints) == 0 or len(imgpoints) == 0: |
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483 return False |
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484 try: |
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485 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None) |
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486 except NameError: |
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487 return False |
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488 savetxt('intrinsic-camera.txt', camera_matrix) |
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489 return camera_matrix, dist_coeffs |
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490 |
545
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491 def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR): |
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492 '''Undistorts the image passed in argument''' |
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493 width = img.shape[1] |
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494 height = img.shape[0] |
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495 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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496 return cv2.remap(img, map1, map2, interpolation=interpolation) |
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497 |
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498 |
99
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499 def printCvMat(cvmat, out = stdout): |
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500 '''Prints the cvmat to out''' |
384
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501 print('Deprecated, use new interface') |
99
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502 for i in xrange(cvmat.rows): |
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503 for j in xrange(cvmat.cols): |
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504 out.write('{0} '.format(cvmat[i,j])) |
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505 out.write('\n') |
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506 |
98
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507 def projectArray(homography, points): |
384
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508 '''Returns the coordinates of the projected points through homography |
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509 (format: array 2xN points)''' |
98
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510 if points.shape[0] != 2: |
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511 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1])) |
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512 |
636
3058e00887bc
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diff
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513 if (homography is not None) and homography.size>0: |
639
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modified tsai camera homography computation to avoid using os dependent temporary files
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514 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates |
98
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515 augmentedPoints = append(points,[[1]*points.shape[1]], 0) |
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516 prod = dot(homography, augmentedPoints) |
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517 return prod[0:2]/prod[2] |
28 | 518 else: |
547 | 519 return points |
28 | 520 |
98
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521 def project(homography, p): |
319 | 522 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1] |
98
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523 through homography''' |
243
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diff
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524 return projectArray(homography, array([[p[0]],[p[1]]])) |
98
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|
525 |
28 | 526 def projectTrajectory(homography, trajectory): |
527 '''Projects a series of points in the format | |
528 [[x1, x2, ...], | |
98
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529 [y1, y2, ...]]''' |
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|
530 return projectArray(homography, array(trajectory)) |
28 | 531 |
48
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diff
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532 def invertHomography(homography): |
384
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533 '''Returns an inverted homography |
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534 Unnecessary for reprojection over camera image''' |
673
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corrected import bug
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changeset
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535 from numpy.linalg import inv |
48
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536 invH = inv(homography) |
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diff
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537 invH /= invH[2,2] |
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538 return invH |
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diff
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539 |
474
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added functions to undistort trajectories from inverse mapping
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diff
changeset
|
540 def undistortTrajectory(invMap1, invMap2, positions): |
769
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diff
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541 floorPositions = npfloor(positions) |
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542 #ceilPositions = npceil(positions) |
474
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diff
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543 undistortedTrajectory = [[],[]] |
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diff
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544 for i in xrange(len(positions[0])): |
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diff
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545 x,y = None, None |
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diff
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546 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]: |
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547 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]] |
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548 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]] |
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549 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1] |
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550 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1] |
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551 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]] |
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552 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]] |
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553 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0: |
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554 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX) |
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555 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY) |
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556 undistortedTrajectory[0].append(x) |
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557 undistortedTrajectory[1].append(y) |
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558 return undistortedTrajectory |
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559 |
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560 def projectGInputPoints(homography, points): |
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561 return projectTrajectory(homography, array(points+[points[0]]).T) |
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562 |
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563 if opencvAvailable: |
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564 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)): |
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565 '''Computes the translation of img2 with respect to img1 |
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566 (loaded using OpenCV as numpy arrays) |
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567 img1Points are used to compute the translation |
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568 |
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569 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)''' |
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570 |
154
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571 nextPoints = array([]) |
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572 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria) |
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573 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err |
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574 delta = [] |
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575 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)): |
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576 if status[k] == 1: |
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577 dp = p2-p1 |
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578 d = npsum(dp**2) |
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579 if d < maxTranslation2: |
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580 delta.append(dp) |
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581 if len(delta) >= minNMatches: |
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582 return median(delta, axis=0) |
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583 else: |
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584 print(dp) |
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585 return None |
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586 |
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587 if skimageAvailable: |
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588 from skimage.feature import hog |
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589 from skimage import color, transform |
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590 |
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591 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8,8), cellsPerBlock=(2,2), blockNorm='L1', visualize=False, normalize=False): |
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592 bwImg = color.rgb2gray(image) |
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593 inputImg = transform.resize(bwImg, rescaleSize) |
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594 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize) |
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595 if visualize: |
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596 from matplotlib.pyplot import imshow, figure, subplot |
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597 hogViz = features[1] |
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598 features = features[0] |
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599 figure() |
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600 subplot(1,2,1) |
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601 imshow(inputImg) |
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602 subplot(1,2,2) |
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603 imshow(hogViz) |
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604 return float32(features) |
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605 |
893
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606 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations=9, pixelsPerCell=(8,8), blockNorm='L1', cellsPerBlock=(2, 2), visualize=False, normalize=False): |
365
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607 inputData = [] |
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608 for filename in listdir(imageDirectory): |
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609 img = imread(imageDirectory+filename) |
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610 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize) |
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611 inputData.append(features) |
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612 |
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613 nImages = len(inputData) |
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614 return array(inputData, dtype = float32), array([classLabel]*nImages) |
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615 |
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|
616 |
807
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617 ######################### |
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618 # running tests |
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619 ######################### |
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620 |
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621 if __name__ == "__main__": |
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622 import doctest |
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623 import unittest |
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624 suite = doctest.DocFileSuite('tests/cvutils.txt') |
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625 #suite = doctest.DocTestSuite() |
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626 unittest.TextTestRunner().run(suite) |
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627 #doctest.testmod() |
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628 #doctest.testfile("example.txt") |