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annotate python/compute-object-from-features.py @ 103:1621b46a1523

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started python script to compute the moving object trajectory as the trajectory of the lowest of the features (ie closest to the ground)
author Nicolas Saunier <nico@confins.net>
date Wed, 13 Jul 2011 19:14:17 -0400
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children 9844c69d8fa2
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rev   line source
103
1621b46a1523 started python script to compute the moving object trajectory as the trajectory of the lowest of the features (ie closest to the ground)
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1 #!/usr/bin/env python
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2
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3 import sys
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4
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5 import matplotlib.mlab as pylab
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6 import matplotlib.pyplot as plt
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7 import numpy as np
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8
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9 import cv
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10 import utils
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11 import cvutils
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12 import ubc_utils
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13 import moving
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14
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15 # use something like getopt to manage arguments if necessary
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16
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17 if len(sys.argv) < 3:
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18 print('Usage: {0} <video-filename> <n-objects>'.format(sys.argv[0]))
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19 sys.exit()
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20
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21 if sys.argv[1].endswith('.avi'):
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22 videoFilenamePrefix = utils.removeExtension(sys.argv[1],'.')
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23 else:
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24 videoFilenamePrefix = sys.argv[1]
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26 objectNum = int(sys.argv[2])
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27
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28 objects = ubc_utils.loadTrajectories(videoFilenamePrefix+'-objects.txt', objectNum+1)
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29 obj = objects[objectNum]
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30 features = ubc_utils.loadTrajectories(videoFilenamePrefix+'-features.txt', max(obj.featureNumbers)+1)
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31 h = np.loadtxt(videoFilenamePrefix+'-homography.txt')
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32
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33 invh = cvutils.invertHomography(h)
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34
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35 yCoordinates = -np.ones((len(obj.featureNumbers),int(obj.length())))
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36 for i,fnum in enumerate(obj.featureNumbers):
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37 traj = features[fnum].getPositions().asArray()
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38 imgTraj = cvutils.projectArray(invh, traj)
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39 yCoordinates[i,features[fnum].getFirstInstant()-obj.getFirstInstant():features[fnum].getLastInstant()+1-obj.getFirstInstant()] = imgTraj[1,:]
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40
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41 indices = argmax(yCoordinates,0)
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42 newTraj = moving.Trajectory()
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43 for j,idx in enumerate(indices):
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44 newTraj.addPosition(features[obj.featureNumbers[idx]].getPositionAtInstant(j+obj.getFirstInstant()))
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45
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46 # TODO
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47 # use kalman filter over the resulting trajectory
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48 # estimate the error terms using actual features