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annotate python/cvutils.py @ 100:2a3cafcf5faf

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added function to compute the translation between two images
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Jul 2011 19:59:25 -0400
parents e7dc5a780f09
children abfc54c097d4
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import Image, ImageDraw # PIL
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5 import cv
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6 from sys import stdout
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8 #import aggdraw # agg on top of PIL (antialiased drawing)
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9 from moving import Point
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10 #import utils
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12 __metaclass__ = type
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13
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14 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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15 '''Draws lines over the image '''
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17 img = Image.open(filename)
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18
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19 draw = ImageDraw.Draw(img)
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20 #draw = aggdraw.Draw(img)
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21 #pen = aggdraw.Pen("red", width)
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22 for p1, p2 in zip(origins, destinations):
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23 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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24 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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25 del draw
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27 #out = utils.openCheck(resultFilename)
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28 img.save(resultFilename)
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30 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0):
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31 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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32 cvSrcPoints = arrayToCvMat(srcPoints);
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33 cvDstPoints = arrayToCvMat(dstPoints);
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34 H = cv.CreateMat(3, 3, cv.CV_64FC1)
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35 cv.FindHomography(cvSrcPoints, cvDstPoints, H, method, ransacReprojThreshold)
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36 return H
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37
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38 def cvMatToArray(cvmat):
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39 '''Converts an OpenCV CvMat to numpy array.'''
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40 from numpy.core.multiarray import zeros
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41 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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42 for i in xrange(cvmat.rows):
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43 for j in xrange(cvmat.cols):
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44 a[i,j] = cvmat[i,j]
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45 return a
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47 def arrayToCvMat(a, t = cv.CV_64FC1):
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48 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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49 cvmat = cv.CreateMat(a.shape[0], a.shape[1], t)
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50 for i in range(cvmat.rows):
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51 for j in range(cvmat.cols):
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52 cvmat[i,j] = a[i,j]
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53 return cvmat
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54
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55 def printCvMat(cvmat, out = stdout):
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56 '''Prints the cvmat to out'''
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57 for i in xrange(cvmat.rows):
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58 for j in xrange(cvmat.cols):
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59 out.write('{0} '.format(cvmat[i,j]))
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60 out.write('\n')
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62 def projectArray(homography, points):
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63 '''Returns the coordinates of the projected points (format 2xN points)
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64 through homography'''
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65 from numpy.core._dotblas import dot
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66 from numpy.core.multiarray import array
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67 from numpy.lib.function_base import append
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68
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69 if points.shape[0] != 2:
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70 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
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72 if (homography!=None) and homography.size>0:
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73 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
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74 prod = dot(homography, augmentedPoints)
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75 return prod[0:2]/prod[2]
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76 else:
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77 return p
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78
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79 def project(homography, p):
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80 '''Returns the coordinates of the projection of the point p
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81 through homography'''
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82 from numpy.core.multiarray import array
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83 return projectArray(homography, array([[p[0]],p[1]]))
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84
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85 def projectTrajectory(homography, trajectory):
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86 '''Projects a series of points in the format
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87 [[x1, x2, ...],
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88 [y1, y2, ...]]'''
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89 from numpy.core.multiarray import array
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90 return projectArray(homography, array(trajectory))
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91
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92 def invertHomography(homography):
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93 'Returns an inverted homography'
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94 from numpy.linalg.linalg import inv
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95 invH = inv(homography)
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96 invH /= invH[2,2]
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97 return invH
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99 def computeTranslation(img1, img2, img1Points, maxTranslation, minNMatches, windowSize = (5,5), level = 5, criteria = (cv.CV_TERMCRIT_EPS, 0, 0.01)):
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100 '''Computes the translation between of img2 with respect to img1
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101 (loaded using OpenCV)
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102 img1Points are used to compute the translation
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103
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104 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom)'''
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105 from numpy.core.multiarray import zeros
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106 from numpy.lib.function_base import median
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107
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108 (img2Points, status, track_error) = cv.CalcOpticalFlowPyrLK(img1, img2, zeros((img1.rows,img1.cols+8)), zeros((img1.rows,img1.cols+8)), img1Points, windowSize, level, criteria, 0)
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109
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110 deltaX = []
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111 deltaY = []
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112 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
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113 if status[k] == 1:
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114 dx = p2[0]-p1[0]
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115 dy = p2[1]-p1[1]
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116 d = dx**2 + dy**2
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117 if d < maxTranslation:
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118 deltaX.append(dx)
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119 deltaY.append(dy)
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120 if len(deltaX) >= 10:
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121 return [median(deltaX), median(deltaY)]
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122 else:
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123 return None
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124
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125 class FourWayIntersection:
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126 '''Simple class for simple intersection outline'''
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127 def __init__(self, dimension, coordX, coordY):
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128 self.dimension = dimension
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129 self.coordX = coordX
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130 self.coordY = coordY
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131
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132 def plot(self, options = 'k'):
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133 from matplotlib.pyplot import plot, axis
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134
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
135 minX = min(self.dimension[0])
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
136 maxX = max(self.dimension[0])
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
137 minY = min(self.dimension[1])
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
138 maxY = max(self.dimension[1])
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
139
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
140 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
141 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
142 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
143 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
144 axis('equal')