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annotate scripts/display-synced-trajectories.py @ 838:2918de3d40fc

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first working version of display of merged tracking
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 06 Jul 2016 12:30:08 -0400
parents e01cabca4c55
children 2c7b4e6a32dd
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1 #! /usr/bin/env python
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2
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3 import sys, argparse, os.path
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4 from datetime import datetime, timedelta
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5 import numpy as np
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6 import cv2
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7 import cvutils, utils, storage
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8 from metadata import createDatabase, Site, CameraView, VideoSequence
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9
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10 parser = argparse.ArgumentParser(description='The program displays several views of the same site synchronously.')
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11 parser.add_argument('-i', dest = 'metadataFilename', help = 'name of the metadata file', required = True)
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12 #parser.add_argument('-n', dest = 'siteId', help = 'site id or site name', required = True)
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13 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file', required = True)
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14 parser.add_argument('-f', dest = 'startTime', help = 'time to start playing (format %Y-%m-%d %H:%M:%S, eg 2011-06-22 10:00:39)', required = True)
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15 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to display', choices = ['feature', 'object'], default = 'object')
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16 parser.add_argument('-r', dest = 'rescale', help = 'rescaling factor for the displayed image', default = 1., type = float)
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17 parser.add_argument('-s', dest = 'step', help = 'display every s image', default = 1, type = int)
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18 parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
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19
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20 args = parser.parse_args()
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21
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22 session = createDatabase(args.metadataFilename)
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23
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24 mergedSequence = session.query(VideoSequence).filter(VideoSequence.databaseFilename == args.databaseFilename).first()
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25 if mergedSequence is None:
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26 print('Video sequence {} was not found in {}. Exiting'.format(args.databaseFilename, args.metadataFilename))
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27 sys.exit()
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28
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29 dirname = os.path.split(args.metadataFilename)[0]
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30
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31 frameRate = mergedSequence.cameraView.cameraType.frameRate
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32 startTime = datetime.strptime(args.startTime, utils.datetimeFormat)
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33 mergedFirstFrameNum = utils.deltaFrames(mergedSequence.startTime, startTime, frameRate)
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34
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35 cameraViews = session.query(CameraView).filter(CameraView.site == mergedSequence.cameraView.site).filter(CameraView.virtual == False).all()
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36 videoSequences = session.query(VideoSequence).filter(VideoSequence.virtual == False).all()
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37 #videoSequences.remove(mergedSequence)
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38 videoSequences = [v for v in videoSequences if v.cameraView in cameraViews and (v.containsInstant(startTime) or v.startTime > startTime)]
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39 filenames = [dirname+os.path.sep+v.getVideoSequenceFilename() for v in videoSequences]
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40 firstFrameNums = [utils.deltaFrames(v.startTime, startTime, frameRate) for v in videoSequences] # use pos/neg first frame nums
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41 windowNames = [v.cameraView.description for v in videoSequences]
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42
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43 # homography and undistort
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44 homographies = [np.linalg.inv(np.loadtxt(dirname+os.path.sep+v.cameraView.getHomographyFilename())) for v in videoSequences]
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45 if args.undistort:
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46 cameraTypes = set([cv.cameraType for cv in cameraViews])
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47 for cameraType in cameraTypes:
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48 cameraType.computeUndistortMaps()
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49
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50 objects = storage.loadTrajectoriesFromSqlite(dirname+os.path.sep+mergedSequence.getDatabaseFilename(), args.trajectoryType)
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51 for obj in objects:
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52 obj.projectedPositions = {}
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53
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54 #def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1):
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55 if len(filenames) == 0:
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56 print('Empty filename list')
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57 sys.exit()
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58
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59 if windowNames is None:
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60 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))]
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61 #wait = 5
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62 #if rescale == 1.:
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63 for windowName in windowNames:
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64 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
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65 #if frameRate > 0:
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66 # wait = int(round(1000./frameRate))
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67 #if interactive:
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68 wait = 0
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69 step = 1
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70 rescale = 1.
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71 captures = [cv2.VideoCapture(fn) for fn in filenames]
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72 if np.array([cap.isOpened() for cap in captures]).all():
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73 key = -1
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74 ret = True
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75 nFramesShown = 0
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76 for i in xrange(len(captures)):
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77 if firstFrameNums[i] > 0:
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78 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i])
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79 while ret and not cvutils.quitKey(key):
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80 rets = []
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81 images = []
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82 for i in xrange(len(captures)):
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83 if firstFrameNums[i]+nFramesShown>=0:
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84 ret, img = captures[i].read()
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85 if ret and args.undistort:
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86 img = cv2.remap(img, videoSequences[i].cameraView.cameraType.map1, videoSequences[i].cameraView.cameraType.map2, interpolation=cv2.INTER_LINEAR)
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87 rets.append(ret)
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88 images.append(img)
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89 else:
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90 rets.append(False)
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91 images.append(None)
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92 if np.array(rets).any():
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93 #if printFrames:
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94 print('frame shown {0}'.format(nFramesShown))
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95 for i in xrange(len(filenames)):
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96 if rets[i]:#firstFrameNums[i]+nFramesShown>=0:
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97 for obj in objects:
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98 if obj.existsAtInstant(mergedFirstFrameNum+nFramesShown):
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99 #print obj.num, obj.timeInterval, mergedFirstFrameNum, nFramesShown
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100 if i not in obj.projectedPositions:
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101 if homographies[i] is not None:
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102 obj.projectedPositions[i] = obj.positions.project(homographies[i])
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103 else:
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104 obj.projectedPositions[i] = obj.positions
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105 cvutils.cvPlot(images[i], obj.projectedPositions[i], cvutils.cvColors[obj.getNum()], int(mergedFirstFrameNum+nFramesShown)-obj.getFirstInstant())
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106
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107 #if text is not None:
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108 # cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
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109 cvutils.cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
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110 key = cv2.waitKey(wait)
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111 #if cvutils.saveKey(key):
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112 # cv2.imwrite('image-{}.png'.format(frameNum), img)
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113 nFramesShown += step
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114 if step > 1:
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115 for i in xrange(len(captures)):
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116 captures.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
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117 cv2.destroyAllWindows()
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118 else:
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119 print('Video captures for {} failed'.format(filenames))