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

annotate python/cvutils.py @ 766:6022350f8173 dev

updated to OpenCV 3.1

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Mon, 21 Dec 2015 15:15:45 -0500
parents	43ae3a1af290
children	dfdb2a3722cc

rev	line source
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Image/Video utilities'''
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	3
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	4 import utils
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	5
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	6 try:
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	7 import cv2
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	8 opencvAvailable = True
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	9 except ImportError:
501 c81cbd6953fb update to classify speed to remove data at both ends Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	11 opencvAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	12 try:
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	13 import skimage
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	14 skimageAvailable = True
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	15 except ImportError:
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	17 skimageAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	18
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	19 from sys import stdout
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	20 from numpy import dot, array, append, float32
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	21
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	22 #import aggdraw # agg on top of PIL (antialiased drawing)
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	23
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	24
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	25 cvRed = (0,0,255)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	26 cvGreen = (0,255,0)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	27 cvBlue = (255,0,0)
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	28 cvCyan = (255, 255, 0)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	29 cvYellow = (0, 255, 255)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	30 cvMagenta = (255, 0, 255)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	31 cvWhite = (255, 255, 255)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	32 cvBlack = (0,0,0)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	33 cvColors3 = utils.PlottingPropertyValues([cvRed,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	34 cvGreen,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	35 cvBlue])
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	36 cvColors = utils.PlottingPropertyValues([cvRed,
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	37 cvGreen,
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	38 cvBlue,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	39 cvCyan,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	40 cvYellow,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	41 cvMagenta,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	42 cvWhite,
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	43 cvBlack])
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	44
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	45 def quitKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	46 return chr(key&255)== 'q' or chr(key&255) == 'Q'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	47
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	48 def saveKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	49 return chr(key&255) == 's'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	50
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	51 def int2FOURCC(x):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	52 fourcc = ''
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	53 for i in xrange(4):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	54 fourcc += unichr((x >> 8*i)&255)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	55 return fourcc
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	56
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	57 def plotLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	58 '''Draws lines over the image '''
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	59 import Image, ImageDraw # PIL
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	60
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	61 img = Image.open(filename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	62
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	63 draw = ImageDraw.Draw(img)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	64 #draw = aggdraw.Draw(img)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	65 #pen = aggdraw.Pen("red", width)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	66 for p1, p2 in zip(origins, destinations):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	67 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	68 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	69 del draw
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	70
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	71 #out = utils.openCheck(resultFilename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	72 img.save(resultFilename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	73
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	74 def rgb2gray(rgb):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	75 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	76
159 115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	77 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	78 '''Loads and converts the point correspondences saved
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	79 by the matlab camera calibration tool'''
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	80 from numpy.lib.io import loadtxt, savetxt
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	81 from numpy.lib.function_base import append
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	82 points = loadtxt(filename, delimiter=',')
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	83 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	84
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	85 def loadPointCorrespondences(filename):
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	86 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	87 from numpy import loadtxt, float32
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	88 points = loadtxt(filename, dtype=float32)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	89 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	90
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	91 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	92 '''Converts an OpenCV CvMat to numpy array.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	93 print('Deprecated, use new interface')
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	94 from numpy import zeros
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	95 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]cvmat.width]cvmat.height)
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	96 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	97 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	98 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	99 return a
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	100
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	101 if opencvAvailable:
402 f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	102 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
302 9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	103 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	104 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	105 return H
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	106
406 37c7b46f6e21 update to OpenCV 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 402 diff changeset	107 def arrayToCvMat(a, t = cv2.CV_64FC1):
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	108 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	109 print('Deprecated, use new interface')
152 74b1fc68d4df re-organized code to avoid cyclic python module dependencies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 151 diff changeset	110 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	111 for i in range(cvmat.rows):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	112 for j in range(cvmat.cols):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	113 cvmat[i,j] = a[i,j]
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	114 return cvmat
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	115
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	116 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	117 if lastCoordinate is None:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	118 last = positions.length()-1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	119 elif lastCoordinate >=0:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	120 last = min(positions.length()-1, lastCoordinate)
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	121 for i in range(0, last):
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	122 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	123
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	124 def cvImshow(windowName, img, rescale = 1.0):
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	125 'Rescales the image (in particular if too large)'
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	126 from cv2 import resize
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	127 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	128 size = (int(round(img.shape[1]rescale)), int(round(img.shape[0]rescale)))
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	129 resizedImg = resize(img, size)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	130 cv2.imshow(windowName, resizedImg)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	131 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	132 cv2.imshow(windowName, img)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	133
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	134 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	135 from copy import deepcopy
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	136 from numpy import identity
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	137 newImgSize = (int(round(widthundistortedImageMultiplication)), int(round(heightundistortedImageMultiplication)))
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	138 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	139 newCameraMatrix[0,2] = newImgSize[0]/2.
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	140 newCameraMatrix[1,2] = newImgSize[1]/2.
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	141 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	142
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	143 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1):
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	144 '''Plays the video'''
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	145 windowName = 'frame'
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	146 if rescale == 1.:
94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	147 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	148 wait = 5
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	149 if frameRate > 0:
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	150 wait = int(round(1000./frameRate))
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	151 if interactive:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	152 wait = 0
149 0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	153 capture = cv2.VideoCapture(filename)
0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	154 if capture.isOpened():
0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	155 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	156 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	157 frameNum = firstFrameNum
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	158 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	159 while ret and not quitKey(key):
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	160 #ret, img = capture.read()
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	161 for i in xrange(step):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	162 ret, img = capture.read()
149 0f552c8b1650 added python function to play video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 116 diff changeset	163 if ret:
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	164 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	165 print('frame {0}'.format(frameNum))
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	166 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	167 if text is not None:
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	168 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	169 cvImshow(windowName, img, rescale)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	170 key = cv2.waitKey(wait)
625 9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	171 if saveKey(key):
9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	172 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	173 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	174 else:
538 bd1ad468e928 corrected bug and added capability to save undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 528 diff changeset	175 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	176
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	177 def infoVideo(filename):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	178 '''Provides all available info on video '''
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	179 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	180 cv2.CAP_PROP_FOURCC: "codec (fourcc)",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	181 cv2.CAP_PROP_FPS: "fps",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	182 cv2.CAP_PROP_FRAME_COUNT: "number of frames",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	183 cv2.CAP_PROP_FRAME_HEIGHT: "heigh",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	184 cv2.CAP_PROP_FRAME_WIDTH: "width",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	185 cv2.CAP_PROP_RECTIFICATION: "rectification",
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	186 cv2.CAP_PROP_SATURATION: "saturation"}
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	187 capture = cv2.VideoCapture(filename)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	188 if capture.isOpened():
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	189 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	190 #cv2.CAP_PROP_CONTRAST
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	191 #cv2.CAP_PROP_CONVERT_RGB
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	192 #cv2.CAP_PROP_EXPOSURE
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	193 cv2.CAP_PROP_FORMAT,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	194 cv2.CAP_PROP_FOURCC,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	195 cv2.CAP_PROP_FPS,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	196 cv2.CAP_PROP_FRAME_COUNT,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	197 cv2.CAP_PROP_FRAME_HEIGHT,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	198 cv2.CAP_PROP_FRAME_WIDTH,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	199 #cv2.CAP_PROP_GAIN,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	200 #cv2.CAP_PROP_HUE
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	201 #cv2.CAP_PROP_MODE
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	202 #cv2.CAP_PROP_POS_AVI_RATIO
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	203 #cv2.CAP_PROP_POS_FRAMES
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	204 #cv2.CAP_PROP_POS_MSEC
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	205 #cv2.CAP_PROP_RECTIFICATION,
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	206 #cv2.CAP_PROP_SATURATION
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	207 ]:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	208 prop = capture.get(cvprop)
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	209 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	210 prop = int2FOURCC(int(prop))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	211 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	212 else:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	213 print('Video capture for {} failed'.format(filename))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	214
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	215 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	216 '''Returns nFrames images from the video sequence'''
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	217 from math import floor, log10
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	218 images = []
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	219 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	220 if capture.isOpened():
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	221 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	222 if rawCount < 0:
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	223 rawCount = firstFrameNum+nFrames+1
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	224 nDigits = int(floor(log10(rawCount)))+1
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	225 ret = False
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	226 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	227 imgNum = 0
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	228 while imgNum<nFrames:
171 8e7b354666ec corrected bug in to get images from video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 160 diff changeset	229 ret, img = capture.read()
216 51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	230 i = 0
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	231 while not ret and i<10:
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	232 ret, img = capture.read()
216 51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	233 i += 1
171 8e7b354666ec corrected bug in to get images from video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 160 diff changeset	234 if img.size>0:
216 51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	235 if saveImage:
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	236 imgNumStr = format(firstFrameNum+imgNum, '0{}d'.format(nDigits))
167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	237 cv2.imwrite(outputPrefix+imgNumStr+'.png', img)
216 51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	238 else:
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	239 images.append(img)
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	240 imgNum +=1
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	241 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	242 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	243 print('Video capture for {} failed'.format(videoFilename))
150 404f3cade05f added python function to get image frames from video filenames Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 149 diff changeset	244 return images
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	245
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	246 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	247 capture = cv2.VideoCapture(videoFilename)
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	248 if capture.isOpened():
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	249 fps = capture.get(cv2.CAP_PROP_FPS)
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	250 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	251 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	252 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	253 print('Video capture for {} failed'.format(videoFilename))
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	254 return None
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	255
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	256 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	257 'Computes the bounding box of object at frameNum'
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	258 x = []
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	259 y = []
661 dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	260 if obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	261 for f in obj.getFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	262 if f.existsAtInstant(frameNum):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	263 projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	264 x.append(projectedPosition.x)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	265 y.append(projectedPosition.y)
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	266 xmin = min(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	267 xmax = max(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	268 ymin = min(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	269 ymax = max(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	270 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	271 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	272 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	273 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	274 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	275 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	276 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	277 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
520 fd9641cbd24b added function to classify object at instant from SVM Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	278 croppedImg = img[yCropMin : yCropMax, xCropMin : xCropMax]
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	279 else:
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	280 croppedImg = None
548 e6ab4caf359c corrected bug MohamedGomaa parents: 547 diff changeset	281 return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	282
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	283
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	284 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 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	285 '''Displays the objects overlaid frame by frame over the video '''
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	286 from moving import userTypeNames
482 f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	287 from math import ceil, log10
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	288
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	289 capture = cv2.VideoCapture(videoFilename)
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	290 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	291 height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	292
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	293 windowName = 'frame'
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	294 if rescale == 1.:
94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	295 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	296
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	297 if undistort: # setup undistortion
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	298 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	299 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	300 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	301 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	302 frameNum = firstFrameNum
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	303 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	304 if lastFrameNumArg is None:
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	305 from sys import maxint
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	306 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	307 else:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	308 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	309 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	310 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	311 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	312 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	313 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	314 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	315 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	316 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	317 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	318 if len(objectToDeleteIds) > 0:
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 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	320 objectToDeleteIds = []
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	321 # plot objects
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	322 for obj in objects:
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	323 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	324 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	325 objectToDeleteIds.append(obj.getNum())
236 eb4525853030 added script to display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 235 diff changeset	326 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	327 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	328 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	329 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	330 obj.projectedPositions = obj.positions
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	331 cvPlot(img, obj.projectedPositions, cvColors[obj.getNum()], frameNum-obj.getFirstInstant())
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	332 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	333 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	334 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 1)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	335 objDescription = '{} '.format(obj.num)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	336 if userTypeNames[obj.userType] != 'unknown':
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	337 objDescription += userTypeNames[obj.userType][0].upper()
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	338 if len(annotations) > 0: # if we loaded annotations, but there is no match
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	339 if frameNum not in toMatches[obj.getNum()]:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	340 objDescription += " FA"
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	341 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[obj.getNum()])
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	342 # plot object bounding boxes
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	343 if frameNum in boundingBoxes.keys():
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	344 for rect in boundingBoxes[frameNum]:
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	345 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[obj.getNum()])
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	346 # plot ground truth
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	347 if len(annotations) > 0:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	348 for gt in annotations:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	349 if gt.existsAtInstant(frameNum):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	350 if frameNum in gtMatches[gt.getNum()]:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	351 color = cvColors[gtMatches[gt.getNum()][frameNum]] # same color as object
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	352 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	353 color = cvRed
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	354 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	355 cv2.rectangle(img, gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), gt.bottomRightPositions[frameNum-gt.getFirstInstant()].asint().astuple(), color)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	356 # saving images and going to next
482 f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	357 if not saveAllImages:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	358 cvImshow(windowName, img, rescale)
482 f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	359 key = cv2.waitKey()
f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	360 if saveAllImages or saveKey(key):
f6415f012640 adding functionalities (save images directly to display trajectories to create movies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 478 diff changeset	361 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
478 d337bffd7283 Display of points in compute homography and step option to replay videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 474 diff changeset	362 frameNum += nFramesStep
d337bffd7283 Display of points in compute homography and step option to replay videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 474 diff changeset	363 if nFramesStep > 1:
766 6022350f8173 updated to OpenCV 3.1 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	364 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
346 5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 319 diff changeset	365 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	366 else:
17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	367 print 'Cannot load file ' + videoFilename
402 f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	368
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	369 def computeHomographyFromPDTV(camera):
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	370 '''Returns the homography matrix at ground level from PDTV camera
402 f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	371 https://bitbucket.org/hakanardo/pdtv'''
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	372 # camera = pdtv.load(cameraFilename)
402 f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	373 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	374 dstPoints = []
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	375 for srcPoint in srcPoints:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	376 projected = camera.image_to_world(tuple(srcPoint))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	377 dstPoints.append([projected[0], projected[1]])
638 852f5de42d01 added functionality to read Aliaksei Tsai camera model data Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	378 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method = 0) # No need for different methods for finding homography
402 f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	379 return H
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	380
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	381 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	382 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	383 map1 and map2 are the mapping functions from undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	384 to distorted (original image)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	385 map1(x,y) = originalx, originaly'''
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	386 from numpy import abs, logical_and, unravel_index, sum
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	387 from matplotlib.mlab import find
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	388 distx = abs(map1-x)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	389 disty = abs(map2-y)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	390 indices = logical_and(distx<maxDistance, disty<maxDistance)
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	391 closeCoordinates = unravel_index(find(indices), distx.shape) # returns i,j, ie y,x
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	392 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	393 yWeights = 1-disty[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	394 return dot(xWeights, closeCoordinates[1])/sum(xWeights), dot(yWeights, closeCoordinates[0])/sum(yWeights)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	395
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	396 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	397 '''test 'perfect' inversion'''
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	398 from moving import Trajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	399 from numpy import isnan
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	400 undistortedTrajectory = Trajectory()
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	401 for i,p in enumerate(t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	402 res = undistortedCoordinates(map1, map2, p.x,p.y)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	403 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	404 undistortedTrajectory.addPositionXY(res[0], res[1])
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	405 else:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	406 print i,p,res
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	407 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	408
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	409 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	410 'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap'
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	411 from numpy import ones, isnan
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	412 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	413 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	414 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	415 for y in range(0,originalImageSize[0]):
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	416 res = undistortedCoordinates(x,y, map1, map2)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	417 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	418 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	419 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	420 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	421
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	422 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	423 ''' Camera calibration searches through all the images (jpg or png) located
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	424 in _path_ for matches to a checkerboard pattern of size checkboardSize.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	425 These images should all be of the same camera with the same resolution.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	426
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	427 For best results, use an asymetric board and ensure that the image has
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	428 very high contrast, including the background. Suitable checkerboard:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	429 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	430
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	431 The code below is based off of:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	432 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	433 Modified by Paul St-Aubin
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	434 '''
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	435 from numpy import zeros, mgrid, float32, savetxt
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	436 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	437
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	438 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	439 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	440
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	441 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	442 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	443 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	444
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	445 # Arrays to store object points and image points from all the images.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	446 objpoints = [] # 3d point in real world space
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	447 imgpoints = [] # 2d points in image plane.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	448
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	449 ## Loop throuhg all images in _path_
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	450 images = glob.glob(os.path.join(path,'.[jJ][pP][gG]'))+glob.glob(os.path.join(path,'.[jJ][pP][eE][gG]'))+glob.glob(os.path.join(path,'*.[pP][nN][gG]'))
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	451 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	452 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	453 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	454
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	455 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	456 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	457
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	458 # If found, add object points, image points (after refining them)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	459 if ret:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	460 print 'Found pattern in '+fname
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	461
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	462 if(secondPassSearch):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	463 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	464
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	465 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	466 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	467
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	468 # Draw and display the corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	469 if(display):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	470 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	471 if(img):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	472 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	473 cv2.waitKey(0)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	474
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	475 ## Close up image loading and calibrate
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	476 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	477 if len(objpoints) == 0 or len(imgpoints) == 0:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	478 return False
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	479 try:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	480 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	481 except NameError:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	482 return False
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	483 savetxt('intrinsic-camera.txt', camera_matrix)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	484 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	485
545 9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	486 def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR):
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	487 '''Undistorts the image passed in argument'''
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	488 width = img.shape[1]
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	489 height = img.shape[0]
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	490 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	491 return cv2.remap(img, map1, map2, interpolation=interpolation)
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	492
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	493
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	494 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	495 '''Prints the cvmat to out'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	496 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	497 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	498 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	499 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	500 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	501
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	502 def projectArray(homography, points):
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	503 '''Returns the coordinates of the projected points through homography
6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	504 (format: array 2xN points)'''
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	505 if points.shape[0] != 2:
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	506 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	507
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	508 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	509 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	510 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	511 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	512 return prod[0:2]/prod[2]
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	513 else:
547 97c5fef5b2d6 corrected bugs MohamedGomaa parents: 538 diff changeset	514 return points
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	515
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	516 def project(homography, p):
319 6b65b26c1e46 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 315 diff changeset	517 '''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	518 through homography'''
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 236 diff changeset	519 return projectArray(homography, array([[p[0]],[p[1]]]))
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	520
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	521 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	522 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	523 [[x1, x2, ...],
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	524 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	525 return projectArray(homography, array(trajectory))
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	526
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	527 def invertHomography(homography):
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	528 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	529 Unnecessary for reprojection over camera image'''
673 5505f9dbb28e corrected import bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 672 diff changeset	530 from numpy.linalg import inv
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	531 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	532 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	533 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	534
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	535 def undistortTrajectory(invMap1, invMap2, positions):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	536 from numpy import floor, ceil
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	537 floorPositions = floor(positions)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	538 #ceilPositions = ceil(positions)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	539 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	540 for i in xrange(len(positions[0])):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	541 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	542 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	543 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	544 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	545 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	546 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	547 #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	548 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	549 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	550 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	551 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	552 undistortedTrajectory[0].append(x)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	553 undistortedTrajectory[1].append(y)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	554 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	555
491 343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	556 def projectGInputPoints(homography, points):
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	557 return projectTrajectory(homography, array(points+[points[0]]).T)
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	558
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	559 if opencvAvailable:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	560 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	561 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	562 (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	563 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	564
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	565 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	566 from numpy import median, sum
100 2a3cafcf5faf added function to compute the translation between two images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 99 diff changeset	567
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	568 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	569 (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	570 # 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	571 delta = []
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	572 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	573 if status[k] == 1:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	574 dp = p2-p1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	575 d = sum(dp**2)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	576 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	577 delta.append(dp)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	578 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	579 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	580 else:
156 2eef5620c0b3 added key values for opencv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	581 print(dp)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	582 return None
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	583
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	584 if skimageAvailable:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	585 from skimage.feature import hog
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	586 from skimage import color, transform
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	587
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	588 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	589 bwImg = color.rgb2gray(image)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	590 inputImg = transform.resize(bwImg, rescaleSize)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	591 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	592 if visualize:
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	593 from matplotlib.pyplot import imshow, figure, subplot
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	594 hogViz = features[1]
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	595 features = features[0]
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	596 figure()
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	597 subplot(1,2,1)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	598 imshow(inputImg)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	599 subplot(1,2,2)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	600 imshow(hogViz)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	601 return float32(features)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	602
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	603 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	604 from os import listdir
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	605 from matplotlib.pyplot import imread
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	606
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	607 inputData = []
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	608 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	609 img = imread(imageDirectory+filename)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	610 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	611 inputData.append(features)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	612
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	613 nImages = len(inputData)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	614 return array(inputData, dtype = float32), array([classLabel]*nImages, dtype = float32)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	615
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	616

Mercurial Hosting > traffic-intelligence

annotate python/cvutils.py @ 766:6022350f8173 dev