Mercurial Hosting > traffic-intelligence
annotate python/cvutils.py @ 788:5b970a5bc233 dev
updated classifying code to OpenCV 3.x (bug in function to load classification models)
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Thu, 24 Mar 2016 16:37:37 -0400 |
| parents | b6d3bf350789 |
| children | 5b99b676265e |
| rev | line source |
|---|---|
| 28 | 1 #! /usr/bin/env python |
| 2 '''Image/Video utilities''' | |
| 3 | |
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4 import utils, moving |
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5 |
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6 try: |
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7 import cv2 |
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8 opencvAvailable = True |
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9 except ImportError: |
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10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module |
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11 opencvAvailable = False |
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12 try: |
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13 import skimage |
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14 skimageAvailable = True |
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15 except ImportError: |
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16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)') |
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17 skimageAvailable = False |
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18 |
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19 from sys import stdout, maxint |
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20 from os import listdir |
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21 from copy import deepcopy |
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22 from math import floor, log10, ceil |
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23 |
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24 from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil |
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25 from matplotlib.mlab import find |
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26 from matplotlib.pyplot import imread, imsave |
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27 |
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28 |
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29 |
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30 #import aggdraw # agg on top of PIL (antialiased drawing) |
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31 |
| 28 | 32 |
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33 cvRed = (0,0,255) |
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34 cvGreen = (0,255,0) |
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35 cvBlue = (255,0,0) |
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36 cvCyan = (255, 255, 0) |
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37 cvYellow = (0, 255, 255) |
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38 cvMagenta = (255, 0, 255) |
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39 cvWhite = (255, 255, 255) |
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40 cvBlack = (0,0,0) |
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41 cvColors3 = utils.PlottingPropertyValues([cvRed, |
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42 cvGreen, |
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43 cvBlue]) |
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44 cvColors = utils.PlottingPropertyValues([cvRed, |
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45 cvGreen, |
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46 cvBlue, |
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47 cvCyan, |
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48 cvYellow, |
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49 cvMagenta, |
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50 cvWhite, |
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51 cvBlack]) |
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52 |
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53 def quitKey(key): |
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54 return chr(key&255)== 'q' or chr(key&255) == 'Q' |
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55 |
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56 def saveKey(key): |
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57 return chr(key&255) == 's' |
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58 |
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59 def int2FOURCC(x): |
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60 fourcc = '' |
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61 for i in xrange(4): |
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62 fourcc += unichr((x >> 8*i)&255) |
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63 return fourcc |
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64 |
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65 def plotLines(filename, origins, destinations, w = 1, resultFilename='image.png'): |
| 28 | 66 '''Draws lines over the image ''' |
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67 import Image, ImageDraw # PIL |
| 28 | 68 |
| 69 img = Image.open(filename) | |
| 70 | |
| 71 draw = ImageDraw.Draw(img) | |
| 72 #draw = aggdraw.Draw(img) | |
| 73 #pen = aggdraw.Pen("red", width) | |
| 74 for p1, p2 in zip(origins, destinations): | |
| 75 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0)) | |
| 76 #draw.line([p1.x, p1.y, p2.x, p2.y], pen) | |
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77 del draw |
| 28 | 78 |
| 79 #out = utils.openCheck(resultFilename) | |
| 80 img.save(resultFilename) | |
| 81 | |
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82 def rgb2gray(rgb): |
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83 return dot(rgb[...,:3], [0.299, 0.587, 0.144]) |
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84 |
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85 def matlab2PointCorrespondences(filename): |
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86 '''Loads and converts the point correspondences saved |
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87 by the matlab camera calibration tool''' |
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88 points = loadtxt(filename, delimiter=',') |
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89 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0)) |
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90 |
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91 def loadPointCorrespondences(filename): |
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92 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)''' |
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93 points = loadtxt(filename, dtype=float32) |
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94 return (points[:2,:].T, points[2:,:].T) # (world points, image points) |
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95 |
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96 def cvMatToArray(cvmat): |
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97 '''Converts an OpenCV CvMat to numpy array.''' |
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98 print('Deprecated, use new interface') |
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99 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height) |
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100 for i in xrange(cvmat.rows): |
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101 for j in xrange(cvmat.cols): |
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102 a[i,j] = cvmat[i,j] |
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103 return a |
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104 |
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105 def createWhiteImage(height, width, filename): |
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106 img = ones((height, width, 3), uint8)*255 |
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107 imsave(filename, img) |
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108 |
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109 if opencvAvailable: |
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110 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0): |
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111 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' |
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112 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) |
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113 return H |
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114 |
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115 def arrayToCvMat(a, t = cv2.CV_64FC1): |
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116 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.''' |
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117 print('Deprecated, use new interface') |
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118 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t) |
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119 for i in range(cvmat.rows): |
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parents:
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diff
changeset
|
120 for j in range(cvmat.cols): |
|
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parents:
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diff
changeset
|
121 cvmat[i,j] = a[i,j] |
|
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parents:
102
diff
changeset
|
122 return cvmat |
|
99
e7dc5a780f09
added conversion functions and homography computation
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parents:
98
diff
changeset
|
123 |
|
658
6668f541b915
Added **kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility.
pstaub
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diff
changeset
|
124 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs): |
|
726
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added functionality to display matchings between ground truth and tracked objects
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parents:
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diff
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|
125 if lastCoordinate is None: |
|
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parents:
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diff
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|
126 last = positions.length()-1 |
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diff
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|
127 elif lastCoordinate >=0: |
|
203
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added code to display trajectories on videa
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diff
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|
128 last = min(positions.length()-1, lastCoordinate) |
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|
129 for i in range(0, last): |
|
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Added **kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility.
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|
130 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs) |
|
203
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171
diff
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|
131 |
|
385
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added rescaling options to scripts play-video and display-trajectories
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diff
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|
132 def cvImshow(windowName, img, rescale = 1.0): |
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133 'Rescales the image (in particular if too large)' |
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added rescaling options to scripts play-video and display-trajectories
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diff
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|
134 from cv2 import resize |
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diff
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|
135 if rescale != 1.: |
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added rescaling options to scripts play-video and display-trajectories
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parents:
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diff
changeset
|
136 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale))) |
|
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added rescaling options to scripts play-video and display-trajectories
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diff
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|
137 resizedImg = resize(img, size) |
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diff
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|
138 cv2.imshow(windowName, resizedImg) |
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diff
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139 else: |
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parents:
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diff
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|
140 cv2.imshow(windowName, img) |
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parents:
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diff
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141 |
|
510
b0dac840c24f
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parents:
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diff
changeset
|
142 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients): |
|
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parents:
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diff
changeset
|
143 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication))) |
|
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parents:
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diff
changeset
|
144 newCameraMatrix = deepcopy(intrinsicCameraMatrix) |
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parents:
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diff
changeset
|
145 newCameraMatrix[0,2] = newImgSize[0]/2. |
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diff
changeset
|
146 newCameraMatrix[1,2] = newImgSize[1]/2. |
|
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diff
changeset
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147 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1) |
|
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diff
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|
148 |
|
657
51269511229b
added script printing video info
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parents:
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diff
changeset
|
149 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
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|
150 '''Plays the video''' |
|
544
749672171789
added function to calibrate a camera intrinsic parameters
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parents:
538
diff
changeset
|
151 windowName = 'frame' |
|
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
152 if rescale == 1.: |
|
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several updates for display
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parents:
680
diff
changeset
|
153 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) |
|
305
ca9131968bce
added sample to replay video
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parents:
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diff
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|
154 wait = 5 |
|
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diff
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155 if frameRate > 0: |
|
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parents:
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diff
changeset
|
156 wait = int(round(1000./frameRate)) |
|
381
387cc0142211
script to replay event annotations
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parents:
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diff
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|
157 if interactive: |
|
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parents:
365
diff
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|
158 wait = 0 |
|
149
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parents:
116
diff
changeset
|
159 capture = cv2.VideoCapture(filename) |
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parents:
116
diff
changeset
|
160 if capture.isOpened(): |
|
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parents:
116
diff
changeset
|
161 key = -1 |
|
227
b7612c6d5702
cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
226
diff
changeset
|
162 ret = True |
|
b7612c6d5702
cleaned the code
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parents:
226
diff
changeset
|
163 frameNum = firstFrameNum |
|
766
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
164 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum) |
|
305
ca9131968bce
added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
303
diff
changeset
|
165 while ret and not quitKey(key): |
|
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
166 #ret, img = capture.read() |
|
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parents:
639
diff
changeset
|
167 for i in xrange(step): |
|
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parents:
639
diff
changeset
|
168 ret, img = capture.read() |
|
149
0f552c8b1650
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parents:
116
diff
changeset
|
169 if ret: |
|
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
365
diff
changeset
|
170 if printFrames: |
|
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script to replay event annotations
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parents:
365
diff
changeset
|
171 print('frame {0}'.format(frameNum)) |
|
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
172 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
|
173 if text is not None: |
|
766
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
174 cv2.putText(img, text, (10,50), cv2.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
|
175 cvImshow(windowName, img, rescale) |
|
305
ca9131968bce
added sample to replay video
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parents:
303
diff
changeset
|
176 key = cv2.waitKey(wait) |
|
625
9202628a4130
saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
549
diff
changeset
|
177 if saveKey(key): |
|
9202628a4130
saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
549
diff
changeset
|
178 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
|
179 cv2.destroyAllWindows() |
|
435
17185fe77316
added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
429
diff
changeset
|
180 else: |
|
538
bd1ad468e928
corrected bug and added capability to save undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
528
diff
changeset
|
181 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
|
182 |
|
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
183 def infoVideo(filename): |
|
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parents:
639
diff
changeset
|
184 '''Provides all available info on video ''' |
|
766
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
185 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format", |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
186 cv2.CAP_PROP_FOURCC: "codec (fourcc)", |
|
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
187 cv2.CAP_PROP_FPS: "fps", |
|
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
188 cv2.CAP_PROP_FRAME_COUNT: "number of frames", |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
189 cv2.CAP_PROP_FRAME_HEIGHT: "heigh", |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
190 cv2.CAP_PROP_FRAME_WIDTH: "width", |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
191 cv2.CAP_PROP_RECTIFICATION: "rectification", |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
192 cv2.CAP_PROP_SATURATION: "saturation"} |
|
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
193 capture = cv2.VideoCapture(filename) |
|
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parents:
639
diff
changeset
|
194 if capture.isOpened(): |
|
766
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
195 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
196 #cv2.CAP_PROP_CONTRAST |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
197 #cv2.CAP_PROP_CONVERT_RGB |
|
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
198 #cv2.CAP_PROP_EXPOSURE |
|
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
199 cv2.CAP_PROP_FORMAT, |
|
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
200 cv2.CAP_PROP_FOURCC, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
201 cv2.CAP_PROP_FPS, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
202 cv2.CAP_PROP_FRAME_COUNT, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
203 cv2.CAP_PROP_FRAME_HEIGHT, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
204 cv2.CAP_PROP_FRAME_WIDTH, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
205 #cv2.CAP_PROP_GAIN, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
206 #cv2.CAP_PROP_HUE |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
207 #cv2.CAP_PROP_MODE |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
208 #cv2.CAP_PROP_POS_AVI_RATIO |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
209 #cv2.CAP_PROP_POS_FRAMES |
|
6022350f8173
updated to OpenCV 3.1
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parents:
726
diff
changeset
|
210 #cv2.CAP_PROP_POS_MSEC |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
211 #cv2.CAP_PROP_RECTIFICATION, |
|
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
212 #cv2.CAP_PROP_SATURATION |
|
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
213 ]: |
|
51269511229b
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parents:
639
diff
changeset
|
214 prop = capture.get(cvprop) |
|
766
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
215 if cvprop == cv2.CAP_PROP_FOURCC and prop > 0: |
|
657
51269511229b
added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
639
diff
changeset
|
216 prop = int2FOURCC(int(prop)) |
|
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
217 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop)) |
|
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parents:
639
diff
changeset
|
218 else: |
|
51269511229b
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parents:
639
diff
changeset
|
219 print('Video capture for {} failed'.format(filename)) |
|
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
220 |
|
396
167f6ec44ec5
cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
221 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
|
222 '''Returns nFrames images from the video sequence''' |
|
150
404f3cade05f
added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
149
diff
changeset
|
223 images = [] |
|
396
167f6ec44ec5
cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
224 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
|
225 if capture.isOpened(): |
|
766
6022350f8173
updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
226 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT) |
|
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
673
diff
changeset
|
227 if rawCount < 0: |
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228 rawCount = firstFrameNum+nFrames+1 |
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229 nDigits = int(floor(log10(rawCount)))+1 |
|
150
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230 ret = False |
|
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231 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum) |
|
396
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diff
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|
232 imgNum = 0 |
|
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233 while imgNum<nFrames: |
|
171
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diff
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234 ret, img = capture.read() |
|
216
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diff
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235 i = 0 |
|
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236 while not ret and i<10: |
|
150
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237 ret, img = capture.read() |
|
216
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238 i += 1 |
|
171
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239 if img.size>0: |
|
216
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240 if saveImage: |
|
396
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|
241 imgNumStr = format(firstFrameNum+imgNum, '0{}d'.format(nDigits)) |
|
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242 cv2.imwrite(outputPrefix+imgNumStr+'.png', img) |
|
216
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243 else: |
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244 images.append(img) |
|
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245 imgNum +=1 |
|
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246 capture.release() |
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247 else: |
|
435
17185fe77316
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248 print('Video capture for {} failed'.format(videoFilename)) |
|
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249 return images |
|
398
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250 |
|
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251 def getFPS(videoFilename): |
|
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252 capture = cv2.VideoCapture(videoFilename) |
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253 if capture.isOpened(): |
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254 fps = capture.get(cv2.CAP_PROP_FPS) |
|
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255 capture.release() |
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256 return fps |
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|
257 else: |
|
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258 print('Video capture for {} failed'.format(videoFilename)) |
|
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259 return None |
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260 |
|
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261 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800): |
|
416
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262 'Computes the bounding box of object at frameNum' |
|
411
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263 x = [] |
|
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264 y = [] |
|
661
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diff
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265 if obj.hasFeatures(): |
|
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266 for f in obj.getFeatures(): |
|
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changeset
|
267 if f.existsAtInstant(frameNum): |
|
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268 projectedPosition = f.getPositionAtInstant(frameNum).project(homography) |
|
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|
269 x.append(projectedPosition.x) |
|
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|
270 y.append(projectedPosition.y) |
|
416
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diff
changeset
|
271 xmin = min(x) |
|
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diff
changeset
|
272 xmax = max(x) |
|
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diff
changeset
|
273 ymin = min(y) |
|
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changeset
|
274 ymax = max(y) |
|
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changeset
|
275 xMm = px * (xmax - xmin) |
|
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diff
changeset
|
276 yMm = py * (ymax - ymin) |
|
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diff
changeset
|
277 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm)) |
|
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diff
changeset
|
278 yCropMin = int(max(0, .5 * (ymin + ymax - a))) |
|
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diff
changeset
|
279 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a))) |
|
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parents:
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diff
changeset
|
280 xCropMin = int(max(0, .5 * (xmin + xmax - a))) |
|
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parents:
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diff
changeset
|
281 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a))) |
|
680
da1352b89d02
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parents:
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diff
changeset
|
282 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels: |
|
520
fd9641cbd24b
added function to classify object at instant from SVM
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parents:
515
diff
changeset
|
283 croppedImg = img[yCropMin : yCropMax, xCropMin : xCropMax] |
|
411
31604ef1cad4
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diff
changeset
|
284 else: |
|
685
94b291a5f933
several updates for display
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parents:
680
diff
changeset
|
285 croppedImg = None |
| 548 | 286 return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax |
|
411
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changeset
|
287 |
|
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changeset
|
288 |
|
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
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parents:
725
diff
changeset
|
289 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., annotations = [], gtMatches = {}, toMatches = {}): |
|
203
e2f31813ade6
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diff
changeset
|
290 '''Displays the objects overlaid frame by frame over the video ''' |
|
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diff
changeset
|
291 capture = cv2.VideoCapture(videoFilename) |
|
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diff
changeset
|
292 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH)) |
|
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parents:
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diff
changeset
|
293 height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) |
|
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
294 |
|
544
749672171789
added function to calibrate a camera intrinsic parameters
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parents:
538
diff
changeset
|
295 windowName = 'frame' |
|
685
94b291a5f933
several updates for display
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parents:
680
diff
changeset
|
296 if rescale == 1.: |
|
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several updates for display
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parents:
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diff
changeset
|
297 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) |
|
544
749672171789
added function to calibrate a camera intrinsic parameters
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parents:
538
diff
changeset
|
298 |
|
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
|
299 if undistort: # setup undistortion |
|
510
b0dac840c24f
compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
300 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
|
203
e2f31813ade6
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parents:
171
diff
changeset
|
301 if capture.isOpened(): |
|
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parents:
171
diff
changeset
|
302 key = -1 |
|
227
b7612c6d5702
cleaned the code
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parents:
226
diff
changeset
|
303 ret = True |
|
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cleaned the code
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parents:
226
diff
changeset
|
304 frameNum = firstFrameNum |
|
766
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parents:
726
diff
changeset
|
305 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum) |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
306 if lastFrameNumArg is None: |
|
248
571ba5ed22e2
added utils for bus processing
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parents:
243
diff
changeset
|
307 lastFrameNum = maxint |
|
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added utils for bus processing
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parents:
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diff
changeset
|
308 else: |
|
571ba5ed22e2
added utils for bus processing
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parents:
243
diff
changeset
|
309 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
|
310 nZerosFilename = int(ceil(log10(lastFrameNum))) |
|
725
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
311 objectToDeleteIds = [] |
|
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
|
312 while ret and not quitKey(key) and frameNum <= lastFrameNum: |
|
203
e2f31813ade6
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parents:
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diff
changeset
|
313 ret, img = capture.read() |
|
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parents:
171
diff
changeset
|
314 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
|
315 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
|
316 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
|
317 if printFrames: |
|
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
365
diff
changeset
|
318 print('frame {0}'.format(frameNum)) |
|
725
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
319 if len(objectToDeleteIds) > 0: |
|
35bc5e30a53f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
320 objects = [o for o in objects if o.getNum() not in objectToDeleteIds] |
|
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
321 objectToDeleteIds = [] |
|
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
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parents:
725
diff
changeset
|
322 # plot objects |
|
203
e2f31813ade6
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parents:
171
diff
changeset
|
323 for obj in objects: |
|
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parents:
171
diff
changeset
|
324 if obj.existsAtInstant(frameNum): |
|
725
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
325 if obj.getLastInstant() == frameNum: |
|
35bc5e30a53f
slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
326 objectToDeleteIds.append(obj.getNum()) |
|
236
eb4525853030
added script to display trajectories
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parents:
235
diff
changeset
|
327 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
|
328 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
|
329 obj.projectedPositions = obj.positions.project(homography) |
|
b5772df11b37
corrected bugs to load objects and display trajectories over videos
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parents:
216
diff
changeset
|
330 else: |
|
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331 obj.projectedPositions = obj.positions |
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332 cvPlot(img, obj.projectedPositions, cvColors[obj.getNum()], frameNum-obj.getFirstInstant()) |
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333 if frameNum not in boundingBoxes.keys() and obj.hasFeatures(): |
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416
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334 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height) |
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335 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 1) |
|
411
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336 objDescription = '{} '.format(obj.num) |
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337 if moving.userTypeNames[obj.userType] != 'unknown': |
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338 objDescription += moving.userTypeNames[obj.userType][0].upper() |
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339 if len(annotations) > 0: # if we loaded annotations, but there is no match |
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340 if frameNum not in toMatches[obj.getNum()]: |
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341 objDescription += " FA" |
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342 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[obj.getNum()]) |
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343 # plot object bounding boxes |
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344 if frameNum in boundingBoxes.keys(): |
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345 for rect in boundingBoxes[frameNum]: |
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346 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[obj.getNum()]) |
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347 # plot ground truth |
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348 if len(annotations) > 0: |
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349 for gt in annotations: |
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350 if gt.existsAtInstant(frameNum): |
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351 if frameNum in gtMatches[gt.getNum()]: |
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352 color = cvColors[gtMatches[gt.getNum()][frameNum]] # same color as object |
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353 else: |
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354 color = cvRed |
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355 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvRed) |
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356 cv2.rectangle(img, gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), gt.bottomRightPositions[frameNum-gt.getFirstInstant()].asint().astuple(), color) |
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357 # saving images and going to next |
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358 if not saveAllImages: |
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359 cvImshow(windowName, img, rescale) |
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360 key = cv2.waitKey() |
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361 if saveAllImages or saveKey(key): |
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362 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img) |
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363 frameNum += nFramesStep |
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364 if nFramesStep > 1: |
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365 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum) |
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346
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366 cv2.destroyAllWindows() |
|
435
17185fe77316
added error messages if video not opened
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367 else: |
| 774 | 368 print('Cannot load file ' + videoFilename) |
|
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369 |
|
639
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modified tsai camera homography computation to avoid using os dependent temporary files
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370 def computeHomographyFromPDTV(camera): |
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371 '''Returns the homography matrix at ground level from PDTV camera |
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372 https://bitbucket.org/hakanardo/pdtv''' |
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373 # camera = pdtv.load(cameraFilename) |
|
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374 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!! |
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375 dstPoints = [] |
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376 for srcPoint in srcPoints: |
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377 projected = camera.image_to_world(tuple(srcPoint)) |
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378 dstPoints.append([projected[0], projected[1]]) |
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638
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added functionality to read Aliaksei Tsai camera model data
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diff
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379 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method = 0) # No need for different methods for finding homography |
|
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380 return H |
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381 |
|
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382 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.): |
|
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diff
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383 '''Returns the coordinates of a point in undistorted image |
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added coordinate undistortion function
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384 map1 and map2 are the mapping functions from undistorted image |
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385 to distorted (original image) |
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386 map1(x,y) = originalx, originaly''' |
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387 distx = npabs(map1-x) |
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388 disty = npabs(map2-y) |
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389 indices = logical_and(distx<maxDistance, disty<maxDistance) |
|
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390 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x |
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391 xWeights = 1-distx[indices] |
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392 yWeights = 1-disty[indices] |
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393 return dot(xWeights, closeCoordinates[1])/npsum(xWeights), dot(yWeights, closeCoordinates[0])/npsum(yWeights) |
|
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394 |
|
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395 def undistortTrajectoryFromCVMapping(map1, map2, t): |
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396 '''test 'perfect' inversion''' |
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397 undistortedTrajectory = moving.Trajectory() |
|
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398 for i,p in enumerate(t): |
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399 res = undistortedCoordinates(map1, map2, p.x,p.y) |
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400 if not isnan(res).any(): |
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401 undistortedTrajectory.addPositionXY(res[0], res[1]) |
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402 else: |
| 774 | 403 print('{} {} {}'.format(i,p,res)) |
|
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404 return undistortedTrajectory |
|
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405 |
|
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406 def computeInverseMapping(originalImageSize, map1, map2): |
|
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407 'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap' |
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408 invMap1 = -ones(originalImageSize) |
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409 invMap2 = -ones(originalImageSize) |
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410 for x in range(0,originalImageSize[1]): |
|
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411 for y in range(0,originalImageSize[0]): |
|
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412 res = undistortedCoordinates(x,y, map1, map2) |
|
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a50c026fdf14
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diff
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413 if not isnan(res).any(): |
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414 invMap1[y,x] = res[0] |
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415 invMap2[y,x] = res[1] |
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416 return invMap1, invMap2 |
|
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417 |
|
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418 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False): |
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419 ''' Camera calibration searches through all the images (jpg or png) located |
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420 in _path_ for matches to a checkerboard pattern of size checkboardSize. |
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421 These images should all be of the same camera with the same resolution. |
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422 |
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423 For best results, use an asymetric board and ensure that the image has |
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424 very high contrast, including the background. Suitable checkerboard: |
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diff
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425 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png |
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426 |
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diff
changeset
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427 The code below is based off of: |
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428 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html |
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429 Modified by Paul St-Aubin |
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430 ''' |
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431 import glob, os |
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432 |
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433 # termination criteria |
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434 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) |
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435 |
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436 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) |
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437 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32) |
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438 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2) |
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439 |
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440 # Arrays to store object points and image points from all the images. |
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441 objpoints = [] # 3d point in real world space |
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442 imgpoints = [] # 2d points in image plane. |
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443 |
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444 ## Loop throuhg all images in _path_ |
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445 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]')) |
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446 for fname in images: |
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447 img = cv2.imread(fname) |
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448 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) |
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449 |
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450 # Find the chess board corners |
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451 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None) |
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452 |
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453 # If found, add object points, image points (after refining them) |
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454 if ret: |
| 774 | 455 print('Found pattern in '+fname) |
|
544
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456 |
|
772
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457 if secondPassSearch: |
|
544
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458 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria) |
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459 |
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460 objpoints.append(objp) |
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461 imgpoints.append(corners) |
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462 |
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463 # Draw and display the corners |
|
772
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464 if display: |
|
544
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465 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret) |
|
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466 if img is not None: |
|
544
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467 cv2.imshow('img',img) |
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468 cv2.waitKey(0) |
| 774 | 469 else: |
| 470 print('Pattern not found in '+fname) | |
|
544
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471 ## Close up image loading and calibrate |
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472 cv2.destroyAllWindows() |
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473 if len(objpoints) == 0 or len(imgpoints) == 0: |
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474 return False |
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475 try: |
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476 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None) |
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477 except NameError: |
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478 return False |
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479 savetxt('intrinsic-camera.txt', camera_matrix) |
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480 return camera_matrix, dist_coeffs |
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481 |
|
545
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482 def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR): |
|
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483 '''Undistorts the image passed in argument''' |
|
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484 width = img.shape[1] |
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485 height = img.shape[0] |
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486 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
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487 return cv2.remap(img, map1, map2, interpolation=interpolation) |
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488 |
|
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|
489 |
|
99
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490 def printCvMat(cvmat, out = stdout): |
|
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491 '''Prints the cvmat to out''' |
|
384
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492 print('Deprecated, use new interface') |
|
99
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493 for i in xrange(cvmat.rows): |
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diff
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494 for j in xrange(cvmat.cols): |
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495 out.write('{0} '.format(cvmat[i,j])) |
|
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|
496 out.write('\n') |
|
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diff
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|
497 |
|
98
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parents:
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diff
changeset
|
498 def projectArray(homography, points): |
|
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499 '''Returns the coordinates of the projected points through homography |
|
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|
500 (format: array 2xN points)''' |
|
98
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diff
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|
501 if points.shape[0] != 2: |
|
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diff
changeset
|
502 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1])) |
|
b85912ab4064
refactored projection functions
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diff
changeset
|
503 |
|
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
|
504 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
|
505 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates |
|
98
b85912ab4064
refactored projection functions
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diff
changeset
|
506 augmentedPoints = append(points,[[1]*points.shape[1]], 0) |
|
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parents:
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diff
changeset
|
507 prod = dot(homography, augmentedPoints) |
|
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diff
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|
508 return prod[0:2]/prod[2] |
| 28 | 509 else: |
| 547 | 510 return points |
| 28 | 511 |
|
98
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refactored projection functions
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parents:
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diff
changeset
|
512 def project(homography, p): |
| 319 | 513 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1] |
|
98
b85912ab4064
refactored projection functions
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diff
changeset
|
514 through homography''' |
|
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
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parents:
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diff
changeset
|
515 return projectArray(homography, array([[p[0]],[p[1]]])) |
|
98
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parents:
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diff
changeset
|
516 |
| 28 | 517 def projectTrajectory(homography, trajectory): |
| 518 '''Projects a series of points in the format | |
| 519 [[x1, x2, ...], | |
|
98
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diff
changeset
|
520 [y1, y2, ...]]''' |
|
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refactored projection functions
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diff
changeset
|
521 return projectArray(homography, array(trajectory)) |
| 28 | 522 |
|
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
|
523 def invertHomography(homography): |
|
384
6da9cf5609aa
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parents:
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diff
changeset
|
524 '''Returns an inverted homography |
|
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
525 Unnecessary for reprojection over camera image''' |
|
673
5505f9dbb28e
corrected import bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
526 from numpy.linalg import inv |
|
48
8aed225f71d8
rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents:
44
diff
changeset
|
527 invH = inv(homography) |
|
8aed225f71d8
rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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44
diff
changeset
|
528 invH /= invH[2,2] |
|
8aed225f71d8
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parents:
44
diff
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|
529 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
|
530 |
|
474
59903d14d244
added functions to undistort trajectories from inverse mapping
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parents:
473
diff
changeset
|
531 def undistortTrajectory(invMap1, invMap2, positions): |
|
769
dfdb2a3722cc
moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
766
diff
changeset
|
532 floorPositions = npfloor(positions) |
|
dfdb2a3722cc
moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
766
diff
changeset
|
533 #ceilPositions = npceil(positions) |
|
474
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
534 undistortedTrajectory = [[],[]] |
|
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
473
diff
changeset
|
535 for i in xrange(len(positions[0])): |
|
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
536 x,y = None, None |
|
59903d14d244
added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
537 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
|
538 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
|
539 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
|
540 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
|
541 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
|
542 #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
|
543 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]] |
|
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544 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0: |
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545 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX) |
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546 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY) |
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547 undistortedTrajectory[0].append(x) |
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548 undistortedTrajectory[1].append(y) |
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549 return undistortedTrajectory |
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550 |
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491
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551 def projectGInputPoints(homography, points): |
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552 return projectTrajectory(homography, array(points+[points[0]]).T) |
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553 |
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365
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554 if opencvAvailable: |
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154
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555 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)): |
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556 '''Computes the translation of img2 with respect to img1 |
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557 (loaded using OpenCV as numpy arrays) |
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558 img1Points are used to compute the translation |
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100
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559 |
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154
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560 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)''' |
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100
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561 |
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562 nextPoints = array([]) |
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563 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria) |
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564 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err |
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565 delta = [] |
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566 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)): |
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567 if status[k] == 1: |
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568 dp = p2-p1 |
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769
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569 d = npsum(dp**2) |
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570 if d < maxTranslation2: |
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571 delta.append(dp) |
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572 if len(delta) >= minNMatches: |
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573 return median(delta, axis=0) |
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574 else: |
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575 print(dp) |
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576 return None |
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365
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577 |
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578 if skimageAvailable: |
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680
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579 from skimage.feature import hog |
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580 from skimage import color, transform |
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581 |
|
411
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582 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False): |
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583 bwImg = color.rgb2gray(image) |
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584 inputImg = transform.resize(bwImg, rescaleSize) |
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585 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize) |
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586 if visualize: |
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587 from matplotlib.pyplot import imshow, figure, subplot |
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588 hogViz = features[1] |
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589 features = features[0] |
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590 figure() |
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591 subplot(1,2,1) |
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592 imshow(inputImg) |
|
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593 subplot(1,2,2) |
|
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594 imshow(hogViz) |
|
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595 return float32(features) |
|
411
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diff
changeset
|
596 |
|
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changeset
|
597 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False): |
|
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598 inputData = [] |
|
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|
599 for filename in listdir(imageDirectory): |
|
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600 img = imread(imageDirectory+filename) |
|
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diff
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601 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize) |
|
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|
602 inputData.append(features) |
|
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diff
changeset
|
603 |
|
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|
604 nImages = len(inputData) |
|
788
5b970a5bc233
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diff
changeset
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605 return array(inputData, dtype = float32), array([classLabel]*nImages) |
|
365
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diff
changeset
|
606 |
|
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diff
changeset
|
607 |