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annotate python/cvutils.py @ 156:2eef5620c0b3
added key values for opencv
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 08 Sep 2011 19:24:42 -0400 |
parents | 668710d4c773 |
children | 115f7f90286d |
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28 | 1 #! /usr/bin/env python |
2 '''Image/Video utilities''' | |
3 | |
4 import Image, ImageDraw # PIL | |
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5 try: |
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6 import cv2 |
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7 opencvExists = True |
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8 except ImportError: |
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9 print('OpenCV library could not be loaded') |
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10 opencvExists = False |
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11 from sys import stdout |
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12 |
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13 import utils |
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14 |
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15 #import aggdraw # agg on top of PIL (antialiased drawing) |
28 | 16 #import utils |
17 | |
18 __metaclass__ = type | |
19 | |
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20 cvRed = (0,0,255) |
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21 cvGreen = (0,255,0) |
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22 cvBlue = (255,0,0) |
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23 cvColors = utils.PlottingPropertyValues([cvRed, |
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24 cvGreen, |
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25 cvBlue]) |
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26 |
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27 cvKeyNumbers = {'a':1048673, |
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28 'n': 1048686, |
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29 'y': 1048697} |
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30 |
28 | 31 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'): |
32 '''Draws lines over the image ''' | |
33 | |
34 img = Image.open(filename) | |
35 | |
36 draw = ImageDraw.Draw(img) | |
37 #draw = aggdraw.Draw(img) | |
38 #pen = aggdraw.Pen("red", width) | |
39 for p1, p2 in zip(origins, destinations): | |
40 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0)) | |
41 #draw.line([p1.x, p1.y, p2.x, p2.y], pen) | |
42 del draw | |
43 | |
44 #out = utils.openCheck(resultFilename) | |
45 img.save(resultFilename) | |
46 | |
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47 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0): |
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48 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' |
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49 #cvSrcPoints = arrayToCvMat(srcPoints); |
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50 #cvDstPoints = arrayToCvMat(dstPoints); |
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51 #H = cv.CreateMat(3, 3, cv.CV_64FC1) |
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52 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) |
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53 return H |
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54 |
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55 def cvMatToArray(cvmat): |
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56 '''Converts an OpenCV CvMat to numpy array.''' |
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57 from numpy.core.multiarray import zeros |
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58 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height) |
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59 for i in xrange(cvmat.rows): |
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60 for j in xrange(cvmat.cols): |
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61 a[i,j] = cvmat[i,j] |
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62 return a |
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63 |
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64 if opencvExists: |
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65 def arrayToCvMat(a, t = cv2.cv.CV_64FC1): |
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66 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.''' |
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67 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t) |
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68 for i in range(cvmat.rows): |
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69 for j in range(cvmat.cols): |
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70 cvmat[i,j] = a[i,j] |
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71 return cvmat |
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72 |
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73 def playVideo(filename): |
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74 '''Plays the video''' |
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75 capture = cv2.VideoCapture(filename) |
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76 if capture.isOpened(): |
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77 key = -1 |
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78 while key!= 1048689: # 'q' |
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79 ret, img = capture.read() |
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80 if ret: |
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81 cv2.imshow('frame', img) |
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82 key = cv2.waitKey(5) |
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83 |
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84 def getImagesFromVideo(filename, nImages = 1): |
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85 '''Returns nImages images from the video sequence''' |
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86 images = [] |
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87 capture = cv2.VideoCapture(filename) |
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88 if capture.isOpened(): |
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89 ret = False |
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90 while len(images)<nImages: |
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91 while not ret: |
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92 ret, img = capture.read() |
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93 if img.size>0: |
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94 images.append(img) |
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95 return images |
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96 |
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97 def printCvMat(cvmat, out = stdout): |
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98 '''Prints the cvmat to out''' |
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99 for i in xrange(cvmat.rows): |
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100 for j in xrange(cvmat.cols): |
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101 out.write('{0} '.format(cvmat[i,j])) |
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102 out.write('\n') |
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103 |
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104 def projectArray(homography, points): |
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105 '''Returns the coordinates of the projected points (format 2xN points) |
28 | 106 through homography''' |
107 from numpy.core._dotblas import dot | |
108 from numpy.core.multiarray import array | |
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109 from numpy.lib.function_base import append |
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110 |
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111 if points.shape[0] != 2: |
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112 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1])) |
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113 |
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114 if (homography!=None) and homography.size>0: |
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115 augmentedPoints = append(points,[[1]*points.shape[1]], 0) |
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116 prod = dot(homography, augmentedPoints) |
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117 return prod[0:2]/prod[2] |
28 | 118 else: |
119 return p | |
120 | |
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121 def project(homography, p): |
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122 '''Returns the coordinates of the projection of the point p |
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123 through homography''' |
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124 from numpy.core.multiarray import array |
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125 return projectArray(homography, array([[p[0]],p[1]])) |
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126 |
28 | 127 def projectTrajectory(homography, trajectory): |
128 '''Projects a series of points in the format | |
129 [[x1, x2, ...], | |
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130 [y1, y2, ...]]''' |
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131 from numpy.core.multiarray import array |
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132 return projectArray(homography, array(trajectory)) |
28 | 133 |
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134 def invertHomography(homography): |
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135 'Returns an inverted homography' |
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136 from numpy.linalg.linalg import inv |
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137 invH = inv(homography) |
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138 invH /= invH[2,2] |
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139 return invH |
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140 |
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141 if opencvExists: |
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142 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)): |
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143 '''Computes the translation of img2 with respect to img1 |
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144 (loaded using OpenCV as numpy arrays) |
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145 img1Points are used to compute the translation |
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146 |
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147 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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148 from numpy.core.multiarray import array |
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149 from numpy.lib.function_base import median |
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150 from numpy.core.fromnumeric import sum |
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151 |
154
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152 nextPoints = array([]) |
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153 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria) |
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154 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err |
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155 delta = [] |
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156 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)): |
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157 if status[k] == 1: |
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158 dp = p2-p1 |
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159 d = sum(dp**2) |
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160 if d < maxTranslation2: |
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161 delta.append(dp) |
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162 if len(delta) >= minNMatches: |
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163 return median(delta, axis=0) |
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164 else: |
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165 print(dp) |
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166 return None |