repo/traffic-intelligence: python/cvutils.py annotate

annotate python/cvutils.py @ 657:51269511229b

added script printing video info

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Wed, 13 May 2015 17:24:19 +0200
parents	4e7925cb4f8f
children	6668f541b915

rev	line source
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Image/Video utilities'''
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	3
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	4 try:
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	5 import cv2
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	6 opencvAvailable = True
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	7 except ImportError:
501 c81cbd6953fb update to classify speed to remove data at both ends Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	8 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	9 opencvAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	10 try:
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	11 import skimage
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	12 skimageAvailable = True
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	13 except ImportError:
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	14 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	15 skimageAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	16
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	17 from sys import stdout
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	18
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	19 import utils
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	20
44 be3ae926e4e8 added simple intersection description, function to load collision points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 28 diff changeset	21 #import aggdraw # agg on top of PIL (antialiased drawing)
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	22 #import utils
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	23
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	24 __metaclass__ = type
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	25
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	26 cvRed = (0,0,255)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	27 cvGreen = (0,255,0)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	28 cvBlue = (255,0,0)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	29 cvColors = utils.PlottingPropertyValues([cvRed,
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	30 cvGreen,
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	31 cvBlue])
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	32
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	33 def quitKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	34 return chr(key&255)== 'q' or chr(key&255) == 'Q'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	35
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	36 def saveKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	37 return chr(key&255) == 's'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	38
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	39 def int2FOURCC(x):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	40 fourcc = ''
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	41 for i in xrange(4):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	42 fourcc += unichr((x >> 8*i)&255)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	43 return fourcc
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	44
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	45 def plotLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	46 '''Draws lines over the image '''
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	47 import Image, ImageDraw # PIL
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	48
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	49 img = Image.open(filename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	50
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	51 draw = ImageDraw.Draw(img)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	52 #draw = aggdraw.Draw(img)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	53 #pen = aggdraw.Pen("red", width)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	54 for p1, p2 in zip(origins, destinations):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	55 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	56 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	57 del draw
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	58
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	59 #out = utils.openCheck(resultFilename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	60 img.save(resultFilename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	61
159 115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	62 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	63 '''Loads and converts the point correspondences saved
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	64 by the matlab camera calibration tool'''
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	65 from numpy.lib.io import loadtxt, savetxt
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	66 from numpy.lib.function_base import append
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	67 points = loadtxt(filename, delimiter=',')
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	68 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	69
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	70 def loadPointCorrespondences(filename):
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	71 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
233 ab1a11176d7b initial sqlite code and bug corrected in cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 227 diff changeset	72 from numpy.lib.npyio import loadtxt
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	73 from numpy import float32
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	74 points = loadtxt(filename, dtype=float32)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	75 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	76
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	77 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	78 '''Converts an OpenCV CvMat to numpy array.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	79 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	80 from numpy.core.multiarray import zeros
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]cvmat.width]cvmat.height)
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	82 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	83 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	84 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	85 return a
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	86
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	87 if opencvAvailable:
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	88 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
302 9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	89 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	90 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	91 return H
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	92
406 37c7b46f6e21 update to OpenCV 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 402 diff changeset	93 def arrayToCvMat(a, t = cv2.CV_64FC1):
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	94 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	95 print('Deprecated, use new interface')
152 74b1fc68d4df re-organized code to avoid cyclic python module dependencies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 151 diff changeset	96 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	97 for i in range(cvmat.rows):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	98 for j in range(cvmat.cols):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	99 cvmat[i,j] = a[i,j]
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	100 return cvmat
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	101
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	102 def cvPlot(img, positions, color, lastCoordinate = None):
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	103 last = lastCoordinate+1
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	104 if lastCoordinate is not None and lastCoordinate >=0:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	105 last = min(positions.length()-1, lastCoordinate)
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	106 for i in range(0, last-1):
223 c31722fcc9de minor modifications for integer drawing in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 218 diff changeset	107 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	108
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	109 def cvImshow(windowName, img, rescale = 1.0):
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	110 'Rescales the image (in particular if too large)'
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	111 from cv2 import resize
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	112 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	113 size = (int(round(img.shape[1]rescale)), int(round(img.shape[0]rescale)))
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	114 resizedImg = resize(img, size)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	115 cv2.imshow(windowName, resizedImg)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	116 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	117 cv2.imshow(windowName, img)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	118
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	119 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	120 from copy import deepcopy
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	121 from numpy import identity, array
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	122 newImgSize = (int(round(widthundistortedImageMultiplication)), int(round(heightundistortedImageMultiplication)))
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	123 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	124 newCameraMatrix[0,2] = newImgSize[0]/2.
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	125 newCameraMatrix[1,2] = newImgSize[1]/2.
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	126 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	127
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	128 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1):
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	129 '''Plays the video'''
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	130 windowName = 'frame'
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	131 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	132 wait = 5
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
149 0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	137 capture = cv2.VideoCapture(filename)
0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	138 if capture.isOpened():
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
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	141 frameNum = firstFrameNum
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	142 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	143 while ret and not quitKey(key):
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	144 #ret, img = capture.read()
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	145 for i in xrange(step):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	146 ret, img = capture.read()
149 0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	147 if ret:
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	148 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	149 print('frame {0}'.format(frameNum))
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	150 frameNum+=step
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	151 if text is not None:
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	152 cv2.putText(img, text, (10,50), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	153 cvImshow(windowName, img, rescale)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	154 key = cv2.waitKey(wait)
625 9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	155 if saveKey(key):
9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	156 cv2.imwrite('image-{}.png'.format(frameNum), img)
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	157 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	158 else:
538 bd1ad468e928 corrected bug and added capability to save undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 528 diff changeset	159 print('Video capture for {} failed'.format(filename))
149 0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	160
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	161 def infoVideo(filename):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	162 '''Provides all available info on video '''
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	163 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	164 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	165 cv2.cv.CV_CAP_PROP_FPS: "fps",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	166 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	167 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	168 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	169 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification",
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	170 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	171 capture = cv2.VideoCapture(filename)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	172 if capture.isOpened():
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	173 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	174 #cv2.cv.CV_CAP_PROP_CONTRAST
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	175 #cv2.cv.CV_CAP_PROP_CONVERT_RGB
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	176 #cv2.cv.CV_CAP_PROP_EXPOSURE
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	177 cv2.cv.CV_CAP_PROP_FORMAT,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	178 cv2.cv.CV_CAP_PROP_FOURCC,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	179 cv2.cv.CV_CAP_PROP_FPS,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	180 cv2.cv.CV_CAP_PROP_FRAME_COUNT,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	181 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	182 cv2.cv.CV_CAP_PROP_FRAME_WIDTH,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	183 #cv2.cv.CV_CAP_PROP_GAIN,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	184 #cv2.cv.CV_CAP_PROP_HUE
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	185 #cv2.cv.CV_CAP_PROP_MODE
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	186 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	187 #cv2.cv.CV_CAP_PROP_POS_FRAMES
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	188 #cv2.cv.CV_CAP_PROP_POS_MSEC
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	189 #cv2.cv.CV_CAP_PROP_RECTIFICATION,
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	190 #cv2.cv.CV_CAP_PROP_SATURATION
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	191 ]:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	192 prop = capture.get(cvprop)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	193 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	194 prop = int2FOURCC(int(prop))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	195 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	196 else:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	197 print('Video capture for {} failed'.format(filename))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	198
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	199 def getImagesFromVideo(videoFilename, firstFrameNum = 0, nFrames = 1, saveImage = False, outputPrefix = 'image'):
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	200 '''Returns nFrames images from the video sequence'''
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	201 from math import floor, log10
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	202 images = []
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	203 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	204 if capture.isOpened():
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	205 nDigits = int(floor(log10(capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT))))+1
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	206 ret = False
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	207 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	208 imgNum = 0
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	209 while imgNum<nFrames:
171 8e7b354666ec corrected bug in to get images from video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 160 diff changeset	210 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	211 i = 0
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	212 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	213 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	214 i += 1
171 8e7b354666ec corrected bug in to get images from video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 160 diff changeset	215 if 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	216 if saveImage:
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	217 imgNumStr = format(firstFrameNum+imgNum, '0{}d'.format(nDigits))
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	218 cv2.imwrite(outputPrefix+imgNumStr+'.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	219 else:
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	220 images.append(img)
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	221 imgNum +=1
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	222 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	223 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	224 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	225 return images
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	226
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	227 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	228 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	229 if capture.isOpened():
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	230 fps = capture.get(cv2.cv.CV_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	231 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	232 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	233 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	234 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	235 return None
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	236
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	237 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, pixelThreshold = 800):
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	238 'Computes the bounding box 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	239 x = []
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	240 y = []
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	241 for f in obj.features:
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	242 if f.existsAtInstant(frameNum):
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	243 projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	244 x.append(projectedPosition.x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	245 y.append(projectedPosition.y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	246 xmin = min(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	247 xmax = max(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	248 ymin = min(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	249 ymax = max(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	250 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	251 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	252 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	253 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	254 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	255 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	256 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	257 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > pixelThreshold:
520 fd9641cbd24b added function to classify object at instant from SVM Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	258 croppedImg = 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	259 else:
520 fd9641cbd24b added function to classify object at instant from SVM Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	260 croppedImg = []
548 e6ab4caf359c corrected bug MohamedGomaa parents: 547 diff changeset	261 return croppedImg, 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	262
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	263
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	264 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	265 '''Displays the objects overlaid frame by frame over the video '''
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	266 from moving import userTypeNames
482 f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	267 from math import ceil, log10
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	268
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	269 capture = cv2.VideoCapture(videoFilename)
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	270 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	271 height = int(capture.get(cv2.cv.CV_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	272
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	273 windowName = 'frame'
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	274 #cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	275
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	276 if undistort: # setup undistortion
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	277 [map1, map2] = 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	278 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	279 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	280 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	281 frameNum = firstFrameNum
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	282 capture.set(cv2.cv.CV_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	283 if lastFrameNumArg is None:
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	284 from sys import maxint
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	285 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	286 else:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	287 lastFrameNum = lastFrameNumArg
482 f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	288 nZerosFilename = int(ceil(log10(lastFrameNum)))
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	289 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	290 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	291 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	292 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	293 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	294 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	295 print('frame {0}'.format(frameNum))
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	296 for obj in objects:
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	297 if obj.existsAtInstant(frameNum):
236 eb4525853030 added script to display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 235 diff changeset	298 if not hasattr(obj, 'projectedPositions'):
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	299 if homography is not None:
218 b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	300 obj.projectedPositions = obj.positions.project(homography)
b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	301 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	302 obj.projectedPositions = obj.positions
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	303 cvPlot(img, obj.projectedPositions, cvRed, frameNum-obj.getFirstInstant())
393 eaf7765221d9 added code to create bounding boxes and display them (inc scripts) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 385 diff changeset	304 if frameNum in boundingBoxes.keys():
eaf7765221d9 added code to create bounding boxes and display them (inc scripts) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 385 diff changeset	305 for rect in boundingBoxes[frameNum]:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 385 diff changeset	306 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvRed)
528 5585ebd8ad61 corrected bugs for trajectory display for new code versions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 520 diff changeset	307 elif len(obj.features) != 0:
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	308 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	309 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 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	310 objDescription = '{} '.format(obj.num)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	311 if userTypeNames[obj.userType] != 'unknown':
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	312 objDescription += userTypeNames[obj.userType][0].upper()
429 2be846d36dec reverted to stable OpenCV release 2.4.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 416 diff changeset	313 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
482 f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	314 if not saveAllImages:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	315 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	316 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	317 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	318 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	319 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	320 if nFramesStep > 1:
d337bffd7283 Display of points in compute homography and step option to replay videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 474 diff changeset	321 capture.set(cv2.cv.CV_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	322 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	323 else:
17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	324 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	325
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	326 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	327 '''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	328 https://bitbucket.org/hakanardo/pdtv'''
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	329 from numpy import array
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	330 # 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	331 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	332 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	333 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	334 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	335 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	336 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	337 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	338
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	339 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	340 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	341 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	342 to distorted (original image)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	343 map1(x,y) = originalx, originaly'''
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	344 from numpy import abs, logical_and, unravel_index, dot, sum
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	345 from matplotlib.mlab import find
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	346 distx = abs(map1-x)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	347 disty = abs(map2-y)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	348 indices = logical_and(distx<maxDistance, disty<maxDistance)
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	349 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	350 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	351 yWeights = 1-disty[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	352 return dot(xWeights, closeCoordinates[1])/sum(xWeights), dot(yWeights, closeCoordinates[0])/sum(yWeights)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	353
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	354 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	355 '''test 'perfect' inversion'''
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	356 from moving import Trajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	357 from numpy import isnan
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	358 undistortedTrajectory = Trajectory()
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	359 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	360 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	361 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	362 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	363 else:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	364 print i,p,res
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	365 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	366
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	367 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	368 '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	369 from numpy import ones, isnan
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	370 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	371 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	372 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	373 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	374 res = undistortedCoordinates(x,y, map1, map2)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	375 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	376 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	377 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	378 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	379
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	380 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	381 ''' Camera calibration searches through all the images (jpg or png) located
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	382 in _path_ for matches to a checkerboard pattern of size checkboardSize.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	383 These images should all be of the same camera with the same resolution.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	384
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	385 For best results, use an asymetric board and ensure that the image has
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	386 very high contrast, including the background. Suitable checkerboard:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	387 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	388
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	389 The code below is based off of:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	390 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	391 Modified by Paul St-Aubin
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	392 '''
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	393 from numpy import zeros, mgrid, float32, savetxt
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	394 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	395
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	396 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	397 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	398
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	399 # 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	400 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	401 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	402
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	403 # 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	404 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	405 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	406
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	407 ## 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	408 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	409 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	410 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	411 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	412
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	413 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	414 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	415
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	416 # 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	417 if ret:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	418 print 'Found pattern in '+fname
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	419
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	420 if(secondPassSearch):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	421 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	422
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	423 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	424 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	425
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	426 # Draw and display the corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	427 if(display):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	428 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	429 if(img):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	430 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	431 cv2.waitKey(0)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	432
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	433 ## 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	434 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	435 if len(objpoints) == 0 or len(imgpoints) == 0:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	436 return False
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	437 try:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	438 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	439 except NameError:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	440 return False
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	441 savetxt('intrinsic-camera.txt', camera_matrix)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	442 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	443
545 9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	444 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	445 '''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	446 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	447 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	448 [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	449 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	450
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	451
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	452 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	453 '''Prints the cvmat to out'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	454 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	455 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	456 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	457 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	458 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	459
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	460 def projectArray(homography, points):
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	461 '''Returns the coordinates of the projected points through homography
6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	462 (format: array 2xN points)'''
315 82b9be447608 bugfix for dot import Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 305 diff changeset	463 from numpy.core import dot
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	464 from numpy.core.multiarray import array
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	465 from numpy.lib.function_base import append
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	466
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	467 if points.shape[0] != 2:
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	468 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	469
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	470 if (homography is not None) and homography.size>0:
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	471 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	472 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	473 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	474 return prod[0:2]/prod[2]
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	475 else:
547 97c5fef5b2d6 corrected bugs MohamedGomaa parents: 538 diff changeset	476 return points
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	477
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	478 def project(homography, p):
319 6b65b26c1e46 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 315 diff changeset	479 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	480 through homography'''
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 236 diff changeset	481 from numpy import array
e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 236 diff changeset	482 return projectArray(homography, array([[p[0]],[p[1]]]))
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	483
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	484 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	485 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	486 [[x1, x2, ...],
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	487 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	488 from numpy.core.multiarray import array
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	489 return projectArray(homography, array(trajectory))
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	490
48 8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	491 def invertHomography(homography):
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	492 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	493 Unnecessary for reprojection over camera image'''
48 8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	494 from numpy.linalg.linalg import inv
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	495 invH = inv(homography)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	496 invH /= invH[2,2]
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	497 return invH
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	498
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	499 def undistortTrajectory(invMap1, invMap2, positions):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	500 from numpy import floor, ceil
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	501 floorPositions = floor(positions)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	502 #ceilPositions = ceil(positions)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	503 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	504 for i in xrange(len(positions[0])):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	505 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	506 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	507 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	508 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	509 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	510 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	511 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	512 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	513 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	514 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	515 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	516 undistortedTrajectory[0].append(x)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	517 undistortedTrajectory[1].append(y)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	518 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	519
491 343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	520 def projectGInputPoints(homography, points):
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	521 from numpy import array
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	522 return projectTrajectory(homography, array(points+[points[0]]).T)
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	523
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	524 if opencvAvailable:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	525 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	526 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	527 (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	528 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	529
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	530 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	531 from numpy.core.multiarray import array
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	532 from numpy.lib.function_base import median
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	533 from numpy.core.fromnumeric import sum
100 2a3cafcf5faf added function to compute the translation between two images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 99 diff changeset	534
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	535 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	536 (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	537 # 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	538 delta = []
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	539 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	540 if status[k] == 1:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	541 dp = p2-p1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	542 d = sum(dp**2)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	543 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	544 delta.append(dp)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	545 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	546 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	547 else:
156 2eef5620c0b3 added key values for opencv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	548 print(dp)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	549 return None
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	550
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	551 if skimageAvailable:
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	552 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	553 from skimage.feature import hog
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	554 from skimage import color, transform
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	555
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	556 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	557 inputImg = transform.resize(bwImg, rescaleSize)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	558 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	559 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	560 from matplotlib.pyplot import imshow, figure, subplot
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	561 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	562 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	563 figure()
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	564 subplot(1,2,1)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	565 imshow(img)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	566 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	567 imshow(hogViz)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	568 return features
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	569
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	570 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	571 from os import listdir
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	572 from numpy import array, float32
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	573 from matplotlib.pyplot import imread
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	574
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	575 inputData = []
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	576 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	577 img = imread(imageDirectory+filename)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	578 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	579 inputData.append(features)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	580
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	581 nImages = len(inputData)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	582 return array(inputData, dtype = float32), array([classLabel]*nImages, dtype = float32)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	583
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	584

Mercurial Hosting > traffic-intelligence

annotate python/cvutils.py @ 657:51269511229b