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annotate trafficintelligence/cvutils.py @ 1242:4cd8ace3552f

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major update for classification, allowing the use of neural network classification
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 07 Feb 2024 11:43:03 -0500
parents 3905b393ade0
children 371c718e57d7
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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 from sys import stdout
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5 from os import listdir
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6 from subprocess import run
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7 from math import floor, log10, ceil
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8 from time import time
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9
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10 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, nonzero, dtype
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11 from numpy.linalg import inv
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12 from matplotlib.pyplot import imread, imsave, imshow, figure, subplot
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13
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14 try:
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15 import cv2
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16 opencvAvailable = True
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17 except ImportError:
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18 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
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19 opencvAvailable = False
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20 try:
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21 import skimage
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22 skimageAvailable = True
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23 except ImportError:
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24 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
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25 skimageAvailable = False
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27 from trafficintelligence import utils, moving
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28
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29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
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30 trackerExe = 'feature-based-tracking'
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31 #importaggdraw # agg on top of PIL (antialiased drawing)
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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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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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57 def int2FOURCC(x):
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58 fourcc = ''
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59 for i in range(4):
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60 fourcc += chr((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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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=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 range(cvmat.rows):
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82 for j in range(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 cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
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97 if lastCoordinate is None:
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98 last = positions.length()-1
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99 elif lastCoordinate >=0:
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100 last = min(positions.length()-1, lastCoordinate)
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101 for i in range(0, last):
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102 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
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103
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104 def cvImshow(windowName, img, rescale = 1.0):
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105 'Rescales the image (in particular if too large)'
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106 if rescale != 1.:
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107 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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108 resizedImg = cv2.resize(img, size)
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109 cv2.imshow(windowName, resizedImg)
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110 else:
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111 cv2.imshow(windowName, img)
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112
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113 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
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114 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
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115 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
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116 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
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117
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118 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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e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
119 '''Plays the video(s)'''
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
120 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
121 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
122 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
123 colorType = 'default'
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
124 if len(filenames) == 0:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
125 print('Empty filename list')
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
126 return
820
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
127 if windowNames is None:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
128 windowNames = ['frame{}'.format(i) for i in range(len(filenames))]
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
129 wait = 5
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
130 if rescale == 1.:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
131 for windowName in windowNames:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
132 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
133 if frameRate > 0:
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
134 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
135 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
136 wait = 0
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
137 captures = [cv2.VideoCapture(fn) for fn in filenames]
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
138 if array([cap.isOpened() for cap in captures]).all():
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
139 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
140 ret = True
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
141 nFramesShown = 0
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
142 if firstFrameNums is not None:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
143 for i in range(len(captures)):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
144 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i])
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
145 while ret and not quitKey(key):
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
146 rets = []
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
147 images = []
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
148 for cap in captures:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
149 ret, img = cap.read()
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
150 rets.append(ret)
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
151 images.append(img)
958
747a5c68bd3c minor improvement and bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 950
diff changeset
152 ret = array(rets).all()
747a5c68bd3c minor improvement and bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 950
diff changeset
153 if ret:
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
154 if printFrames:
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
155 print('frame shown {0}'.format(nFramesShown))
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
156 for i in range(len(filenames)):
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
157 if text is not None:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
158 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType])
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
159 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
160 key = cv2.waitKey(wait)
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
161 if saveKey(key):
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
162 cv2.imwrite('image-{}.png'.format(frameNum), img)
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
163 nFramesShown += step
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
164 if step > 1:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
165 for i in range(len(captures)):
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
166 captures[i].set(cv2.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 changeset
167 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
168 else:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
169 print('Video captures for {} failed'.format(filenames))
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
170
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
171 def infoVideo(filename):
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
172 '''Provides all available info on video '''
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
173 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
174 cv2.CAP_PROP_FOURCC: "codec (fourcc)",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
175 cv2.CAP_PROP_FPS: "fps",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
176 cv2.CAP_PROP_FRAME_COUNT: "number of frames",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
177 cv2.CAP_PROP_FRAME_HEIGHT: "heigh",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
178 cv2.CAP_PROP_FRAME_WIDTH: "width",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
179 cv2.CAP_PROP_RECTIFICATION: "rectification",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
180 cv2.CAP_PROP_SATURATION: "saturation"}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
181 capture = cv2.VideoCapture(filename)
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
182 videoProperties = {}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
183 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
184 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
185 #cv2.CAP_PROP_CONTRAST
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
186 #cv2.CAP_PROP_CONVERT_RGB
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
187 #cv2.CAP_PROP_EXPOSURE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
188 cv2.CAP_PROP_FORMAT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
189 cv2.CAP_PROP_FOURCC,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
190 cv2.CAP_PROP_FPS,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
191 cv2.CAP_PROP_FRAME_COUNT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
192 cv2.CAP_PROP_FRAME_HEIGHT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
193 cv2.CAP_PROP_FRAME_WIDTH,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
194 #cv2.CAP_PROP_GAIN,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
195 #cv2.CAP_PROP_HUE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
196 #cv2.CAP_PROP_MODE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
197 #cv2.CAP_PROP_POS_AVI_RATIO
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
198 #cv2.CAP_PROP_POS_FRAMES
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
199 #cv2.CAP_PROP_POS_MSEC
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
200 #cv2.CAP_PROP_RECTIFICATION,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
201 #cv2.CAP_PROP_SATURATION
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
202 ]:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
203 prop = capture.get(cvprop)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
204 if cvprop == cv2.CAP_PROP_FOURCC and prop > 0:
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
205 prop = int2FOURCC(int(prop))
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
206 videoProperties[cvPropertyNames[cvprop]] = prop
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
207 else:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
208 print('Video capture for {} failed'.format(filename))
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
209 return videoProperties
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
210
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
211 def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'):
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
212 '''Returns nFrames images from the video sequence'''
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
213 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
214 capture = cv2.VideoCapture(videoFilename)
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
215 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
216 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
217 if rawCount < 0:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
218 rawCount = lastFrameNum+1
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
219 nDigits = int(floor(log10(rawCount)))+1
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
220 ret = False
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
221 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
222 frameNum = firstFrameNum
858
2faabcbde2c4 minor improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 821
diff changeset
223 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
224 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
225 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
226 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
227 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
228 i += 1
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
229 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
230 if saveImage:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
231 frameNumStr = format(frameNum, '0{}d'.format(nDigits))
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
232 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
233 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
234 images.append(img)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
235 frameNum +=step
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
236 if step > 1:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
237 capture.set(cv2.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
238 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
239 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
240 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
241 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
242
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
243 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
244 capture = cv2.VideoCapture(videoFilename)
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
245 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
246 fps = capture.get(cv2.CAP_PROP_FPS)
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 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
249 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
250 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: 396
diff changeset
251 return None
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
252
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
253 def imageBoxSize(obj, frameNum, width, height, px = 0.2, py = 0.2):
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
254 'Computes the bounding box size 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
255 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
256 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
257 if obj.hasFeatures():
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
258 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
259 if f.existsAtInstant(frameNum):
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
260 p = f.getPositionAtInstant(frameNum)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
261 x.append(p.x)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
262 y.append(p.y)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
263 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
264 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
265 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
266 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
267 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
268 yMm = py * (ymax - ymin)
1125
b358bed29ab4 updates and bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1112
diff changeset
269 a = max(ymax - ymin + (2 * yMm), xmax - xmin + (2 * xMm))
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
270 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
271 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
272 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
273 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
274 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
275
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
276 def imageBox(img, obj, frameNum, width, height, px = 0.2, py = 0.2, minNPixels = 800):
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
277 'Computes the bounding box of object at frameNum'
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
278 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, width, height, px, py)
1125
b358bed29ab4 updates and bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1112
diff changeset
279 if yCropMax > yCropMin and xCropMax > xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
280 return 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
281 else:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
282 return None
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
283
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
284 def tracking(configFilename, grouping, videoFilename = None, dbFilename = None, homographyFilename = None, maskFilename = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, dryRun = False):
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
285 '''Runs the tracker in a subprocess
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
286 if grouping is True, it is feature grouping
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
287 otherwise it is feature tracking'''
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
288 if grouping:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
289 trackingMode = '--gf'
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
290 else:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
291 trackingMode = '--tf'
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1008
diff changeset
292 cmd = [trackerExe, configFilename, trackingMode, '--quiet']
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
293
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
294 if videoFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
295 cmd += ['--video-filename', videoFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
296 if dbFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
297 cmd += ['--database-filename', dbFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
298 if homographyFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
299 cmd += ['--homography-filename', homographyFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
300 if maskFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
301 cmd += ['--mask-filename', maskFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
302 if undistort:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
303 cmd += ['--undistort', 'true']
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
304 if intrinsicCameraMatrix is not None: # we currently have to save a file
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
305 intrinsicCameraFilename = '/tmp/intrinsic-{}.txt'.format(time())
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
306 savetxt(intrinsicCameraFilename, intrinsicCameraMatrix)
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
307 cmd += ['--intrinsic-camera-filename', intrinsicCameraFilename]
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
308 if distortionCoefficients is not None:
1008
a5f2309bb1ff solved issue with subprocess
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1007
diff changeset
309 cmd += ['--distortion-coefficients '+' '.join([str(x) for x in distortionCoefficients])]
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
310 if dryRun:
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
311 print(cmd)
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
312 else:
1007
192de96e5255 solved config filename bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1005
diff changeset
313 run(cmd)
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
314
1158
7eb972942f22 solving bug to pass kwargs for plotting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1125
diff changeset
315 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, **kwargs):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
316 '''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
317 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
318 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
319 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
320 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
321
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
322 capture = cv2.VideoCapture(videoFilename)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
323 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
324 height = int(capture.get(cv2.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
325
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
326 windowName = 'frame'
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
327 if rescale == 1.:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
328 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
329
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
330 if undistort: # setup undistortion
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
331 [map1, map2], newCameraMatrix = 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
332 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
333 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
334 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
335 frameNum = firstFrameNum
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
336 capture.set(cv2.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
337 if lastFrameNumArg is None:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 969
diff changeset
338 lastFrameNum = float("inf")
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
339 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
340 lastFrameNum = lastFrameNumArg
989
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
341 if nZerosFilenameArg is None:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
342 if lastFrameNumArg is None:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
343 nZerosFilename = int(ceil(log10(objects[-1].getLastInstant())))
981
c3e690c5536e corrected bug in display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
344 else:
989
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
345 nZerosFilename = int(ceil(log10(lastFrameNum)))
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
346 else:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
347 nZerosFilename = nZerosFilenameArg
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
348 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
349 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
350 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
351 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
352 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
353 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
354 print('frame {0}'.format(frameNum))
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
355 # plot objects
947
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
356 for obj in objects[:]:
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
357 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
358 if not hasattr(obj, 'projectedPositions'):
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
359 obj.projectedPositions = obj.getPositions().homographyProject(homography)
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
360 if undistort:
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
361 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
1158
7eb972942f22 solving bug to pass kwargs for plotting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1125
diff changeset
362 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant(), **kwargs)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
363 if frameNum not in boundingBoxes and obj.hasFeatures():
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
364 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
365 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
366 objDescription = '{} '.format(obj.num)
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
367 if moving.userTypeNames[obj.userType] != 'unknown':
1242
4cd8ace3552f major update for classification, allowing the use of neural network classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1205
diff changeset
368 s = moving.userTypeNames[obj.userType]
4cd8ace3552f major update for classification, allowing the use of neural network classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1205
diff changeset
369 objDescription += s[0].upper()+s[1]
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
370 if len(annotations) > 0: # if we loaded annotations, but there is no match
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
371 if frameNum not in toMatches[obj.getNum()]:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
372 objDescription += " FA"
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
373 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
947
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
374 if obj.getLastInstant() == frameNum:
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
375 objects.remove(obj)
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
376 # plot object bounding boxes
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
377 if frameNum in boundingBoxes:
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
378 for rect in boundingBoxes[frameNum]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
379 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
380 # plot ground truth
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
381 if len(annotations) > 0:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
382 for gt in annotations:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
383 if gt.existsAtInstant(frameNum):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
384 if frameNum in gtMatches[gt.getNum()]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
385 color = cvColors[colorType][gtMatches[gt.getNum()][frameNum]] # same color as object
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
386 else:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
387 color = cvRed[colorType]
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
388 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
389 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
390 # 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
391 if not saveAllImages:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
392 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
393 key = cv2.waitKey()
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
394 if saveAllImages or saveKey(key):
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
395 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
396 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
397 if nFramesStep > 1:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
398 capture.set(cv2.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
399 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
400 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
401 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
402
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
403 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
404 '''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
405 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
406 # 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
407 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
408 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
409 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
410 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
411 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
412 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
413 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
414
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
415 def getIntrinsicCameraMatrix(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
416 return array([[cameraData['f']*cameraData['Sx']/cameraData['dx'], 0, cameraData['Cx']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
417 [0, cameraData['f']/cameraData['dy'], cameraData['Cy']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
418 [0, 0, 1.]])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
419
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
420 def getDistortionCoefficients(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
421 return array([cameraData['k']]+4*[0])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
422
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
423 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
424 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
425 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
426 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
427 map1(x,y) = originalx, originaly'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
428 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
429 disty = npabs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
430 indices = logical_and(distx<maxDistance, disty<maxDistance)
1112
956a66096e91 removed code now available in simulation project, and issue with deprecated find function in matplotlib
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
431 closeCoordinates = unravel_index(nonzero(indices), distx.shape) # returns i,j, ie y,x
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
432 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
433 yWeights = 1-disty[indices]
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
434 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
435
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
436 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
437 '''test 'perfect' inversion'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
438 undistortedTrajectory = moving.Trajectory()
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
439 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
440 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
441 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
442 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
443 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
444 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
445 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
446
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
447 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
448 '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
449 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
450 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
451 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
452 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
453 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
454 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
455 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
456 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
457 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
458
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
459 def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True):
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
460 ''' Camera calibration searches through all the images (jpg or png) located
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
461 in _path_ for matches to a checkerboard pattern of size checkboardSize.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
462 These images should all be of the same camera with the same resolution.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
463
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
464 For best results, use an asymetric board and ensure that the image has
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
465 very high contrast, including the background.
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
466
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
467 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
468
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
469 The code below is based off of:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
470 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
471 Modified by Paul St-Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
472 '''
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
473 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
474
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
475 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
476 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
477
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
478 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
479 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
480 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
481
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
482 # Arrays to store object points and image points from all the images.
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
483 objpoints = [] # 3d point in real world space
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
484 imgpoints = [] # 2d points in image plane.
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
485
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
486 ## Loop throuhg all images in _path_
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
487 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]'))
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
488 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
489 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
490 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
491
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
492 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
493 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
494
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
495 # If found, add object points, image points (after refining them)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
496 if ret:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
497 print('Found pattern in '+fname)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
498
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
499 if secondPassSearch:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
500 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
501
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
502 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
503 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
504
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
505 # Draw and display the corners
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
506 if display:
950
c03d2c0a4c04 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 947
diff changeset
507 cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
508 if img is not None:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
509 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
510 cv2.waitKey(0)
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
511 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
512 print('Pattern not found in '+fname)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
513 ## Close up image loading and calibrate
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
514 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
515 if len(objpoints) == 0 or len(imgpoints) == 0:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
516 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
517 try:
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
518 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
519 if fixK2:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
520 flags += cv2.CALIB_FIX_K2
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
521 if fixK3:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
522 flags += cv2.CALIB_FIX_K3
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
523 if zeroTangent:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
524 flags += cv2.CALIB_ZERO_TANGENT_DIST
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
525 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
526 except NameError:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
527 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
528 savetxt('intrinsic-camera.txt', camera_matrix)
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 969
diff changeset
529 print('error: {}'.format(ret))
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
530 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
531
545
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
532 def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR):
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
533 '''Undistorts the image passed in argument'''
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
534 width = img.shape[1]
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
535 height = img.shape[0]
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
536 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
537 return cv2.remap(img, map1, map2, interpolation=interpolation)
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
538
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1174
diff changeset
539 def cartesian2Homogeneous(m):
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1174
diff changeset
540 'Transforms n x m matrix to n x (m+1) by adding last column of 1s'
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1174
diff changeset
541 homoM = ones((m.shape[0], m.shape[1]+1))
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1174
diff changeset
542 homoM[:,:-1] = m
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1174
diff changeset
543 return homoM
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1174
diff changeset
544
932
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
545 def homographyProject(points, homography, output3D = False):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
546 '''Returns the coordinates of the points (2xN array) projected through homography'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
547 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
548 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
549
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
550 if homography is not None and homography.size>0:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
551 if output3D:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
552 outputDim = 3
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
553 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
554 outputDim = 2
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
555 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
556 prod = dot(homography, augmentedPoints)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
557 return prod[:outputDim,:]/prod[2]
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
558 elif output3D:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
559 return append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
560 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
561 return points
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
562
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
563 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
564 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
565 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
566 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
567 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
568 raise Exception('points of dimension {}'.format(points.shape))
1168
d71a4d174b1a corrected potential bug with dtype in image to world projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1158
diff changeset
569 if points.dtype != dtype('float64'):
d71a4d174b1a corrected potential bug with dtype in image to world projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1158
diff changeset
570 points = array(points, dtype = dtype('float64'))
d71a4d174b1a corrected potential bug with dtype in image to world projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1158
diff changeset
571
932
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
572 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
573 undistortedPoints = cv2.undistortPoints(points.T.reshape(1,points.shape[1], 2), intrinsicCameraMatrix, distortionCoefficients).reshape(-1,2)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
574 return homographyProject(undistortedPoints.T, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
575 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
576 return homographyProject(points, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
577
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
578 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
1174
2f89dc3d99e5 clarification of worldToImageProject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1168
diff changeset
579 '''Projects points (2xN array) from world space to image (video) space
932
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
580 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
1174
2f89dc3d99e5 clarification of worldToImageProject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1168
diff changeset
581 2. through homograph projection (from ideal point (no camera) to world)
2f89dc3d99e5 clarification of worldToImageProject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1168
diff changeset
582
2f89dc3d99e5 clarification of worldToImageProject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1168
diff changeset
583 Warning: this usually means to invert the homography if computer from image (ideal point) to world space, eg using numpy.linalg.inv'''
932
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
584 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
585 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
586
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
587 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
588 projected3D = homographyProject(points, homography, True)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
589 projected, jacobian = cv2.projectPoints(projected3D.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
590 return projected.reshape(-1,2).T
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
591 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
592 return homographyProject(points, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
593
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
594 def newCameraProject(points, newCameraMatrix):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
595 '''Projects points (2xN array) as if seen by camera
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
596 (or reverse by inverting the camera matrix)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
597 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
598 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
599
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
600 if newCameraMatrix is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
601 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
602 projected = dot(newCameraMatrix, augmentedPoints)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
603 return projected[:2,:]
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
604 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
605 return points
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
606
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
607 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
608 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)):
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
609 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
610 (loaded using OpenCV as numpy arrays)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
611 img1Points are used to compute the translation
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
612
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
613 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
614
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
615 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
616 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
617 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
618 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
619 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
620 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
621 dp = p2-p1
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
622 d = npsum(dp**2)
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
623 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
624 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
625 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
626 return median(delta, axis=0)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
627 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
628 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
629 return None
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
630
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
631 if skimageAvailable:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
632 from skimage.feature import hog
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
633 from skimage import color, transform
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
634
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
635 def HOG(image, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2), blockNorm = 'L1', visualize = False, transformSqrt = False):
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
636 bwImg = color.rgb2gray(image)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
637 inputImg = transform.resize(bwImg, rescaleSize)
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
638 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt, True)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
639 if visualize:
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
640 hogViz = features[1]
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
641 features = features[0]
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
642 figure()
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
643 subplot(1,2,1)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
644 imshow(inputImg)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
645 subplot(1,2,2)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
646 imshow(hogViz)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
647 return float32(features)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
648
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
649 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations = 9, pixelsPerCell = (8,8), blockNorm = 'L1', cellsPerBlock = (2, 2), visualize = False, transformSqrt = False):
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
650 inputData = []
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
651 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
652 img = imread(imageDirectory+filename)
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
653 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt)
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
654 inputData.append(features)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
655
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
656 nImages = len(inputData)
1168
d71a4d174b1a corrected potential bug with dtype in image to world projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1158
diff changeset
657 return array(inputData, dtype = dtype('float32')), array([classLabel]*nImages)
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
658
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
659
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
660 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
661 # running tests
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
662 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
663
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
664 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
665 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
666 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
667 suite = doctest.DocFileSuite('tests/cvutils.txt')
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
668 #suite = doctest.DocTestSuite()
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
669 unittest.TextTestRunner().run(suite)
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
670 #doctest.testmod()
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
671 #doctest.testfile("example.txt")