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annotate python/cvutils.py @ 346:5f75d6c23ed5

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added opencv function to destroy OpenCV windows (seems to work only on Windows)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Jun 2013 15:42:45 -0400
parents 6b65b26c1e46
children 22ddb8f85495
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import Image, ImageDraw # PIL
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5 try:
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6 import cv2
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7 opencvExists = True
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8 except ImportError:
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9 print('OpenCV library could not be loaded')
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10 opencvExists = False
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11 from sys import stdout
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13 import utils
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15 #import aggdraw # agg on top of PIL (antialiased drawing)
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16 #import utils
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17
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18 __metaclass__ = type
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19
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20 cvRed = (0,0,255)
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21 cvGreen = (0,255,0)
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22 cvBlue = (255,0,0)
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23 cvColors = utils.PlottingPropertyValues([cvRed,
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24 cvGreen,
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25 cvBlue])
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27 def quitKey(key):
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28 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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29
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30 def saveKey(key):
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31 return chr(key&255) == 's'
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32
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33 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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34 '''Draws lines over the image '''
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35
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36 img = Image.open(filename)
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37
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38 draw = ImageDraw.Draw(img)
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39 #draw = aggdraw.Draw(img)
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40 #pen = aggdraw.Pen("red", width)
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41 for p1, p2 in zip(origins, destinations):
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42 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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43 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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44 del draw
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45
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46 #out = utils.openCheck(resultFilename)
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47 img.save(resultFilename)
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48
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49 def matlab2PointCorrespondences(filename):
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50 '''Loads and converts the point correspondences saved
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51 by the matlab camera calibration tool'''
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52 from numpy.lib.io import loadtxt, savetxt
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53 from numpy.lib.function_base import append
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54 points = loadtxt(filename, delimiter=',')
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55 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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56
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57 def loadPointCorrespondences(filename):
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58 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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59 from numpy.lib.npyio import loadtxt
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60 from numpy import float32
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61 points = loadtxt(filename, dtype=float32)
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62 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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64 def cvMatToArray(cvmat):
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65 '''Converts an OpenCV CvMat to numpy array.'''
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66 from numpy.core.multiarray import zeros
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67 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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68 for i in xrange(cvmat.rows):
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69 for j in xrange(cvmat.cols):
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70 a[i,j] = cvmat[i,j]
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71 return a
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73 if opencvExists:
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74 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0):
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75 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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76 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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77 return H
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78
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79 def arrayToCvMat(a, t = cv2.cv.CV_64FC1):
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80 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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81 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
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82 for i in range(cvmat.rows):
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83 for j in range(cvmat.cols):
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84 cvmat[i,j] = a[i,j]
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85 return cvmat
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86
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87 def draw(img, positions, color, lastCoordinate = None):
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88 last = lastCoordinate+1
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89 if lastCoordinate != None and lastCoordinate >=0:
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90 last = min(positions.length()-1, lastCoordinate)
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91 for i in range(0, last-1):
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92 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color)
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93
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94 def playVideo(filename, firstFrameNum = 0, frameRate = -1):
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95 '''Plays the video'''
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96 wait = 5
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97 if frameRate > 0:
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98 wait = int(round(1000./frameRate))
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99 capture = cv2.VideoCapture(filename)
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100 if capture.isOpened():
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101 key = -1
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102 ret = True
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103 frameNum = firstFrameNum
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104 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
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105 while ret and not quitKey(key):
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106 ret, img = capture.read()
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107 if ret:
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108 print('frame {0}'.format(frameNum))
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109 frameNum+=1
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110 cv2.imshow('frame', img)
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111 key = cv2.waitKey(wait)
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112 cv2.destroyAllWindows()
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113
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114 def getImagesFromVideo(filename, nImages = 1, saveImage = False):
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115 '''Returns nImages images from the video sequence'''
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116 images = []
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117 capture = cv2.VideoCapture(filename)
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118 if capture.isOpened():
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119 ret = False
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120 numImg = 0
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121 while numImg<nImages:
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122 ret, img = capture.read()
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123 i = 0
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124 while not ret and i<10:
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125 ret, img = capture.read()
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126 i += 1
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127 if img.size>0:
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128 numImg +=1
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129 if saveImage:
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130 cv2.imwrite('image{0:04d}.png'.format(numImg), img)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
131 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
132 images.append(img)
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
133 return images
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
134
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
135 def displayTrajectories(videoFilename, objects, homography = None, firstFrameNum = 0, lastFrameNumArg = None):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
136 '''Displays the objects overlaid frame by frame over the video '''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
137 capture = cv2.VideoCapture(videoFilename)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
138 if capture.isOpened():
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
139 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
140 ret = True
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
141 frameNum = firstFrameNum
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
142 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
143 if not lastFrameNumArg:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
144 from sys import maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
145 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
146 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
147 lastFrameNum = lastFrameNumArg
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
148 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
149 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
150 if ret:
227
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
151 print('frame {0}'.format(frameNum))
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
152 for obj in objects:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
153 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
154 if not hasattr(obj, 'projectedPositions'):
218
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
155 if homography != None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
156 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
157 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
158 obj.projectedPositions = obj.positions
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
159 draw(img, obj.projectedPositions, cvRed, frameNum-obj.getFirstInstant())
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 218
diff changeset
160 cv2.putText(img, '{0}'.format(obj.num), obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
161 cv2.imshow('frame', img)
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 248
diff changeset
162 key = cv2.waitKey()
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
163 if saveKey(key):
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 248
diff changeset
164 cv2.imwrite('image.png', img)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
165 frameNum += 1
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
166 cv2.destroyAllWindows()
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
167
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
168 def printCvMat(cvmat, out = stdout):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
169 '''Prints the cvmat to out'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
170 for i in xrange(cvmat.rows):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
171 for j in xrange(cvmat.cols):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
172 out.write('{0} '.format(cvmat[i,j]))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
173 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
174
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
175 def projectArray(homography, points):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
176 '''Returns the coordinates of the projected points (format 2xN points)
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
177 through homography'''
315
82b9be447608 bugfix for dot import
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 305
diff changeset
178 from numpy.core import dot
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
179 from numpy.core.multiarray import array
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
180 from numpy.lib.function_base import append
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
181
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
182 if points.shape[0] != 2:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
183 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
184
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
185 if (homography!=None) and homography.size>0:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
186 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
187 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
188 return prod[0:2]/prod[2]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
189 else:
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
190 return p
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
191
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
192 def project(homography, p):
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 315
diff changeset
193 '''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
194 through homography'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
195 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
196 return projectArray(homography, array([[p[0]],[p[1]]]))
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
197
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
198 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
199 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
200 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
201 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
202 from numpy.core.multiarray import array
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
203 return projectArray(homography, array(trajectory))
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
204
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
205 def invertHomography(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
206 'Returns an inverted 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
207 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
208 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
209 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
210 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
211
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
212 if opencvExists:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
213 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
214 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
215 (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
216 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
217
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
218 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
219 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
220 from numpy.lib.function_base import median
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
221 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
222
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
223 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
224 (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
225 # 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
226 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
227 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
228 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
229 dp = p2-p1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
230 d = sum(dp**2)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
231 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
232 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
233 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
234 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
235 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
236 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
237 return None