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annotate python/cvutils.py @ 1005:666b38437d9a

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bug corrected
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 03 Jun 2018 00:42:13 -0400
parents 75601be6019f
children 192de96e5255
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import utils, moving
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5
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6 try:
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7 import cv2
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8 opencvAvailable = True
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9 except ImportError:
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10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
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11 opencvAvailable = False
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12 try:
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13 import skimage
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14 skimageAvailable = True
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15 except ImportError:
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16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
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17 skimageAvailable = False
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18
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19 from sys import stdout
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20 from os import listdir
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21 from subprocess import run
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22 from math import floor, log10, ceil
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23
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24 from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil
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25 from numpy.linalg import inv
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26 from matplotlib.mlab import find
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27 from matplotlib.pyplot import imread, imsave
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28
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29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
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30 trackerExe = 'feature-based-tracking'
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31 #importaggdraw # agg on top of PIL (antialiased drawing)
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32
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33 cvRed = {'default': (0,0,255),
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34 'colorblind': (0,114,178)}
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35 cvGreen = {'default': (0,255,0),
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36 'colorblind': (0,158,115)}
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37 cvBlue = {'default': (255,0,0),
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38 'colorblind': (213,94,0)}
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39 cvCyan = {'default': (255, 255, 0),
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40 'colorblind': (240,228,66)}
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41 cvYellow = {'default': (0, 255, 255),
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42 'colorblind': (86,180,233)}
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43 cvMagenta = {'default': (255, 0, 255),
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44 'colorblind': (204,121,167)}
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45 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
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46 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
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48 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
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49 cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']}
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50
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51 def quitKey(key):
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52 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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53
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54 def saveKey(key):
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55 return chr(key&255) == 's'
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56
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57 def int2FOURCC(x):
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58 fourcc = ''
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59 for i in range(4):
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60 fourcc += chr((x >> 8*i)&255)
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61 return fourcc
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62
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63 def rgb2gray(rgb):
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64 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
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65
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66 def matlab2PointCorrespondences(filename):
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67 '''Loads and converts the point correspondences saved
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68 by the matlab camera calibration tool'''
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69 points = loadtxt(filename, delimiter=',')
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70 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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71
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72 def loadPointCorrespondences(filename):
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73 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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74 points = loadtxt(filename, dtype=float32)
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75 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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76
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77 def cvMatToArray(cvmat):
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78 '''Converts an OpenCV CvMat to numpy array.'''
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79 print('Deprecated, use new interface')
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80 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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81 for i in range(cvmat.rows):
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82 for j in range(cvmat.cols):
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83 a[i,j] = cvmat[i,j]
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84 return a
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85
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86 def createWhiteImage(height, width, filename):
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87 img = ones((height, width, 3), uint8)*255
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88 imsave(filename, img)
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89
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90 if opencvAvailable:
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91 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
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92 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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93 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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94 return H
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95
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96 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
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97 if lastCoordinate is None:
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98 last = positions.length()-1
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99 elif lastCoordinate >=0:
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100 last = min(positions.length()-1, lastCoordinate)
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101 for i in range(0, last):
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102 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
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103
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104 def cvImshow(windowName, img, rescale = 1.0):
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105 'Rescales the image (in particular if too large)'
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106 from cv2 import resize
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107 if rescale != 1.:
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108 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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109 resizedImg = resize(img, size)
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110 cv2.imshow(windowName, resizedImg)
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111 else:
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112 cv2.imshow(windowName, img)
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113
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114 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
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115 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
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116 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
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117 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
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118
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119 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
820
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
120 '''Plays the video(s)'''
868
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parents: 864
diff changeset
121 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
122 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
123 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
124 colorType = 'default'
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
125 if len(filenames) == 0:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
126 print('Empty filename list')
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
127 return
820
e73e7b644428 generalized play-video for several files (already synchronized
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diff changeset
128 if windowNames is None:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
129 windowNames = ['frame{}'.format(i) for i in range(len(filenames))]
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
130 wait = 5
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
131 if rescale == 1.:
820
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
132 for windowName in windowNames:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
133 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305
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parents: 303
diff changeset
134 if frameRate > 0:
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
135 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
136 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
137 wait = 0
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
138 captures = [cv2.VideoCapture(fn) for fn in filenames]
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
139 if array([cap.isOpened() for cap in captures]).all():
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
140 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
141 ret = True
821
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
142 nFramesShown = 0
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
143 if firstFrameNums is not None:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
144 for i in range(len(captures)):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
145 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i])
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
146 while ret and not quitKey(key):
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
147 rets = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
148 images = []
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
149 for cap in captures:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
150 ret, img = cap.read()
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
151 rets.append(ret)
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
152 images.append(img)
958
747a5c68bd3c minor improvement and bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 950
diff changeset
153 ret = array(rets).all()
747a5c68bd3c minor improvement and bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 950
diff changeset
154 if ret:
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
155 if printFrames:
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
156 print('frame shown {0}'.format(nFramesShown))
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
157 for i in range(len(filenames)):
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
158 if text is not None:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
159 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType])
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
160 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
161 key = cv2.waitKey(wait)
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
162 if saveKey(key):
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
163 cv2.imwrite('image-{}.png'.format(frameNum), img)
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
164 nFramesShown += step
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
165 if step > 1:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
166 for i in range(len(captures)):
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
167 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
346
5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
168 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
169 else:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
170 print('Video captures for {} failed'.format(filenames))
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
171
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
172 def infoVideo(filename):
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
173 '''Provides all available info on video '''
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
174 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
175 cv2.CAP_PROP_FOURCC: "codec (fourcc)",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
176 cv2.CAP_PROP_FPS: "fps",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
177 cv2.CAP_PROP_FRAME_COUNT: "number of frames",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
178 cv2.CAP_PROP_FRAME_HEIGHT: "heigh",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
179 cv2.CAP_PROP_FRAME_WIDTH: "width",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
180 cv2.CAP_PROP_RECTIFICATION: "rectification",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
181 cv2.CAP_PROP_SATURATION: "saturation"}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
182 capture = cv2.VideoCapture(filename)
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
183 videoProperties = {}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
184 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
185 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS
e8eabef7857c update to OpenCV3 for python
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parents: 989
diff changeset
186 #cv2.CAP_PROP_CONTRAST
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
187 #cv2.CAP_PROP_CONVERT_RGB
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
188 #cv2.CAP_PROP_EXPOSURE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
189 cv2.CAP_PROP_FORMAT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
190 cv2.CAP_PROP_FOURCC,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
191 cv2.CAP_PROP_FPS,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
192 cv2.CAP_PROP_FRAME_COUNT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
193 cv2.CAP_PROP_FRAME_HEIGHT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
194 cv2.CAP_PROP_FRAME_WIDTH,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
195 #cv2.CAP_PROP_GAIN,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
196 #cv2.CAP_PROP_HUE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
197 #cv2.CAP_PROP_MODE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
198 #cv2.CAP_PROP_POS_AVI_RATIO
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
199 #cv2.CAP_PROP_POS_FRAMES
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
200 #cv2.CAP_PROP_POS_MSEC
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
201 #cv2.CAP_PROP_RECTIFICATION,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
202 #cv2.CAP_PROP_SATURATION
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
203 ]:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
204 prop = capture.get(cvprop)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
205 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
206 prop = int2FOURCC(int(prop))
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
207 videoProperties[cvPropertyNames[cvprop]] = prop
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
208 else:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
209 print('Video capture for {} failed'.format(filename))
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
210 return videoProperties
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
211
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
212 def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'):
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
213 '''Returns nFrames images from the video sequence'''
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
214 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
215 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
216 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
217 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
218 if rawCount < 0:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
219 rawCount = lastFrameNum+1
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
220 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
221 ret = False
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
222 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
223 frameNum = firstFrameNum
858
2faabcbde2c4 minor improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 821
diff changeset
224 while frameNum<lastFrameNum and frameNum<rawCount:
171
8e7b354666ec corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 160
diff changeset
225 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
226 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
227 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
228 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
229 i += 1
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
230 if img is not None and img.size>0:
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
231 if saveImage:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
232 frameNumStr = format(frameNum, '0{}d'.format(nDigits))
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
233 cv2.imwrite(outputPrefix+frameNumStr+'.png', img)
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
234 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
235 images.append(img)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
236 frameNum +=step
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
237 if step > 1:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
238 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
239 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
240 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
241 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
242 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
243
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
244 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
245 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
246 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
247 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
248 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
249 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
250 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
251 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
252 return None
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
253
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
254 def imageBoxSize(obj, frameNum, width, height, px = 0.2, py = 0.2):
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
255 'Computes the bounding box size of object at frameNum'
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
256 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
257 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
258 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
259 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
260 if f.existsAtInstant(frameNum):
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
261 p = f.getPositionAtInstant(frameNum)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
262 x.append(p.x)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
263 y.append(p.y)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
264 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
265 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
266 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
267 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
268 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
269 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
270 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
271 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
272 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
273 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
274 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
275 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
276
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
277 def imageBox(img, obj, frameNum, width, height, px = 0.2, py = 0.2, minNPixels = 800):
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
278 'Computes the bounding box of object at frameNum'
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
279 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, width, height, px, py)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
280 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
281 return img[yCropMin : yCropMax, xCropMin : xCropMax]
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
282 else:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
283 return None
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
284
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
285 def tracking(configFilename, grouping, videoFilename = None, dbFilename = None, homographyFilename = None, maskFilename = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, dryRun = False):
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
286 '''Runs the tracker in a subprocess
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
287 if grouping is True, it is feature grouping
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
288 otherwise it is feature tracking'''
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
289 if grouping:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
290 trackingMode = '--gf'
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
291 else:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
292 trackingMode = '--tf'
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
293 cmd = [trackerExe, configFilename, trackingMode]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
294
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
295 if videoFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
296 cmd += ['--video-filename', videoFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
297 if dbFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
298 cmd += ['--database-filename', dbFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
299 if homographyFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
300 cmd += ['--homography-filename', homographyFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
301 if maskFilename is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
302 cmd += ['--mask-filename', maskFilename]
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
303 if undistort:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
304 cmd += ['--undistort', 'true']
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
305 if intrinsicCameraMatrix is not None: # we currently have to save a file
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
306 from time import time
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
307 intrinsicCameraFilename = '/tmp/intrinsic-{}.txt'.format(time())
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
308 savetxt(intrinsicCameraFilename, intrinsicCameraMatrix)
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
309 cmd += ['--intrinsic-camera-filename', intrinsicCameraFilename]
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
310 if distortionCoefficients is not None:
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
311 cmd += ['--distortion-coefficients', ' '.join([str(x) for x in distortionCoefficients])]
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
312 if dryRun:
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
313 print(cmd)
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
314 else:
1005
666b38437d9a bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
315 run(cmd, shell = True)
1003
75af46516b2b work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
316
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
317 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, nZerosFilenameArg = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}, colorBlind = False):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
318 '''Displays the objects overlaid frame by frame over the video '''
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
319 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
320 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
321 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
322 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
323
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
324 capture = cv2.VideoCapture(videoFilename)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
325 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
326 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
327
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
328 windowName = 'frame'
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
329 if rescale == 1.:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
330 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
331
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
332 if undistort: # setup undistortion
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
333 [map1, map2], newCameraMatrix = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
334 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
335 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
336 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
337 frameNum = firstFrameNum
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
338 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
339 if lastFrameNumArg is None:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 969
diff changeset
340 lastFrameNum = float("inf")
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
341 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
342 lastFrameNum = lastFrameNumArg
989
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
343 if nZerosFilenameArg is None:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
344 if lastFrameNumArg is None:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
345 nZerosFilename = int(ceil(log10(objects[-1].getLastInstant())))
981
c3e690c5536e corrected bug in display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
346 else:
989
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
347 nZerosFilename = int(ceil(log10(lastFrameNum)))
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
348 else:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
349 nZerosFilename = nZerosFilenameArg
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
350 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
351 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
352 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
353 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
354 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
355 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
356 print('frame {0}'.format(frameNum))
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
357 # plot objects
947
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
358 for obj in objects[:]:
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
359 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
360 if not hasattr(obj, 'projectedPositions'):
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
361 obj.projectedPositions = obj.getPositions().homographyProject(homography)
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
362 if undistort:
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
363 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
364 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
365 if frameNum not in boundingBoxes and obj.hasFeatures():
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
366 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
367 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
368 objDescription = '{} '.format(obj.num)
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
369 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
370 objDescription += moving.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
371 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
372 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
373 objDescription += " FA"
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
374 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
947
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
375 if obj.getLastInstant() == frameNum:
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
376 objects.remove(obj)
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
377 # plot object bounding boxes
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
378 if frameNum in boundingBoxes:
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
379 for rect in boundingBoxes[frameNum]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
380 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()])
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
381 # 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
382 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
383 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
384 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
385 if frameNum in gtMatches[gt.getNum()]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
386 color = cvColors[colorType][gtMatches[gt.getNum()][frameNum]] # same color as object
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
387 else:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
388 color = cvRed[colorType]
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
389 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, color)
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
390 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
391 # 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
392 if not saveAllImages:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
393 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
394 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
395 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
396 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
397 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
398 if nFramesStep > 1:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
399 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
400 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
401 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
402 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
403
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
404 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
405 '''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
406 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
407 # 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
408 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
409 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
410 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
411 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
412 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
413 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
414 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
415
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
416 def getIntrinsicCameraMatrix(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
417 return array([[cameraData['f']*cameraData['Sx']/cameraData['dx'], 0, cameraData['Cx']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
418 [0, cameraData['f']/cameraData['dy'], cameraData['Cy']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
419 [0, 0, 1.]])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
420
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
421 def getDistortionCoefficients(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
422 return array([cameraData['k']]+4*[0])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
423
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
424 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
425 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
426 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
427 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
428 map1(x,y) = originalx, originaly'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
429 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
430 disty = npabs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
431 indices = logical_and(distx<maxDistance, disty<maxDistance)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
432 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
433 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
434 yWeights = 1-disty[indices]
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
435 return dot(xWeights, closeCoordinates[1])/npsum(xWeights), dot(yWeights, closeCoordinates[0])/npsum(yWeights)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
436
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
437 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
438 '''test 'perfect' inversion'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
439 undistortedTrajectory = moving.Trajectory()
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
440 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
441 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
442 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
443 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
444 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
445 print('{} {} {}'.format(i,p,res))
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
446 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
447
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
448 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
449 '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
450 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
451 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
452 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
453 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
454 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
455 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
456 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
457 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
458 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
459
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
460 def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True):
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
461 ''' Camera calibration searches through all the images (jpg or png) located
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
462 in _path_ for matches to a checkerboard pattern of size checkboardSize.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
463 These images should all be of the same camera with the same resolution.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
464
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
465 For best results, use an asymetric board and ensure that the image has
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
466 very high contrast, including the background.
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
467
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
468 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
469
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
470 The code below is based off of:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
471 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
472 Modified by Paul St-Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
473 '''
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
474 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
475
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
476 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
477 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
478
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
479 # 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
480 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
481 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
482
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
483 # 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
484 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
485 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
486
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
487 ## 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
488 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
489 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
490 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
491 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
492
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
493 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
494 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
495
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
496 # 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
497 if ret:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
498 print('Found pattern in '+fname)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
499
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
500 if secondPassSearch:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
501 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
502
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
503 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
504 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
505
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
506 # Draw and display the corners
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
507 if display:
950
c03d2c0a4c04 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 947
diff changeset
508 cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
509 if img is not None:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
510 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
511 cv2.waitKey(0)
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
512 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
513 print('Pattern not found in '+fname)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
514 ## 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
515 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
516 if len(objpoints) == 0 or len(imgpoints) == 0:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
517 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
518 try:
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
519 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
520 if fixK2:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
521 flags += cv2.CALIB_FIX_K2
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
522 if fixK3:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
523 flags += cv2.CALIB_FIX_K3
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
524 if zeroTangent:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
525 flags += cv2.CALIB_ZERO_TANGENT_DIST
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
526 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
527 except NameError:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
528 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
529 savetxt('intrinsic-camera.txt', camera_matrix)
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 969
diff changeset
530 print('error: {}'.format(ret))
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
531 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
532
545
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
533 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
534 '''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
535 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
536 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
537 [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
538 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
539
932
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
540 def homographyProject(points, homography, output3D = False):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
541 '''Returns the coordinates of the points (2xN array) projected through homography'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
542 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
543 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
544
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
545 if homography is not None and homography.size>0:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
546 if output3D:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
547 outputDim = 3
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
548 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
549 outputDim = 2
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
550 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
551 prod = dot(homography, augmentedPoints)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
552 return prod[:outputDim,:]/prod[2]
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
553 elif output3D:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
554 return append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
555 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
556 return points
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
557
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
558 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
559 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
560 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
561 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
562 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
563 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
564
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
565 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
566 undistortedPoints = cv2.undistortPoints(points.T.reshape(1,points.shape[1], 2), intrinsicCameraMatrix, distortionCoefficients).reshape(-1,2)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
567 return homographyProject(undistortedPoints.T, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
568 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
569 return homographyProject(points, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
570
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
571 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
572 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
573 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
574 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
575 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
576 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
577
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
578 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
579 projected3D = homographyProject(points, homography, True)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
580 projected, jacobian = cv2.projectPoints(projected3D.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
581 return projected.reshape(-1,2).T
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
582 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
583 return homographyProject(points, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
584
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
585 def newCameraProject(points, newCameraMatrix):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
586 '''Projects points (2xN array) as if seen by camera
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
587 (or reverse by inverting the camera matrix)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
588 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
589 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
590
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
591 if newCameraMatrix is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
592 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
593 projected = dot(newCameraMatrix, augmentedPoints)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
594 return projected[:2,:]
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
595 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
596 return points
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
597
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
598 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
599 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
600 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
601 (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
602 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
603
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
604 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
605
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
606 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
607 (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
608 # 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
609 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
610 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
611 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
612 dp = p2-p1
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
613 d = npsum(dp**2)
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
614 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
615 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
616 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
617 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
618 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
619 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
620 return None
365
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621
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parents: 346
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622 if skimageAvailable:
680
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parents: 673
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623 from skimage.feature import hog
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624 from skimage import color, transform
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625
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
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parents: 958
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626 def HOG(image, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2), blockNorm = 'L1', visualize = False, transformSqrt = False):
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627 bwImg = color.rgb2gray(image)
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628 inputImg = transform.resize(bwImg, rescaleSize)
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parents: 958
diff changeset
629 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt, True)
411
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parents: 410
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630 if visualize:
31604ef1cad4 added hog functions and the display of road user types if known
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parents: 410
diff changeset
631 from matplotlib.pyplot import imshow, figure, subplot
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632 hogViz = features[1]
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633 features = features[0]
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634 figure()
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635 subplot(1,2,1)
680
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636 imshow(inputImg)
411
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637 subplot(1,2,2)
31604ef1cad4 added hog functions and the display of road user types if known
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parents: 410
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638 imshow(hogViz)
680
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parents: 673
diff changeset
639 return float32(features)
411
31604ef1cad4 added hog functions and the display of road user types if known
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parents: 410
diff changeset
640
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
641 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations = 9, pixelsPerCell = (8,8), blockNorm = 'L1', cellsPerBlock = (2, 2), visualize = False, transformSqrt = False):
365
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parents: 346
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642 inputData = []
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
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643 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
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parents: 346
diff changeset
644 img = imread(imageDirectory+filename)
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
645 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt)
365
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parents: 346
diff changeset
646 inputData.append(features)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
647
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
648 nImages = len(inputData)
788
5b970a5bc233 updated classifying code to OpenCV 3.x (bug in function to load classification models)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 774
diff changeset
649 return array(inputData, dtype = float32), array([classLabel]*nImages)
365
22ddb8f85495 added function to create HOG training set
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parents: 346
diff changeset
650
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
651
807
52aa03260f03 reversed all code to OpenCV 2.4.13
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parents: 799
diff changeset
652 #########################
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parents: 799
diff changeset
653 # running tests
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
654 #########################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
655
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
656 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
657 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
658 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
659 suite = doctest.DocFileSuite('tests/cvutils.txt')
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parents: 799
diff changeset
660 #suite = doctest.DocTestSuite()
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parents: 799
diff changeset
661 unittest.TextTestRunner().run(suite)
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parents: 799
diff changeset
662 #doctest.testmod()
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parents: 799
diff changeset
663 #doctest.testfile("example.txt")