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

annotate python/cvutils.py @ 1003:75af46516b2b

work in progress

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Fri, 01 Jun 2018 17:19:31 -0400
parents	933670761a57
children	75601be6019f

rev	line source
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Image/Video utilities'''
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	3
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	4 import utils, moving
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	5
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	6 try:
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	7 import cv2
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	8 opencvAvailable = True
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	9 except ImportError:
501 c81cbd6953fb update to classify speed to remove data at both ends Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	11 opencvAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	12 try:
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	13 import skimage
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	14 skimageAvailable = True
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	15 except ImportError:
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	17 skimageAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	18
978 184f1dd307f9 corrected print and exception statements for Python 3 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 969 diff changeset	19 from sys import stdout
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	20 from os import listdir
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	21 from subprocess import check_call
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	22 from math import floor, log10, ceil
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	23
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	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
930 7db0f2853bfd corrected projection back to image space Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 929 diff changeset	25 from numpy.linalg import inv
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	26 from matplotlib.mlab import find
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	27 from matplotlib.pyplot import imread, imsave
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	28
969 5d788d2e8ffc work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 967 diff changeset	29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	30 trackerExe = 'feature-based-tracking'
981 c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	31 #importaggdraw # agg on top of PIL (antialiased drawing)
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	32
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	33 cvRed = {'default': (0,0,255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	34 'colorblind': (0,114,178)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	35 cvGreen = {'default': (0,255,0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	36 'colorblind': (0,158,115)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	37 cvBlue = {'default': (255,0,0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	38 'colorblind': (213,94,0)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	39 cvCyan = {'default': (255, 255, 0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	40 'colorblind': (240,228,66)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	41 cvYellow = {'default': (0, 255, 255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	42 'colorblind': (86,180,233)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	43 cvMagenta = {'default': (255, 0, 255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	44 'colorblind': (204,121,167)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	45 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	46 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	47
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	48 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	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']}
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	50
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	51 def quitKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	52 return chr(key&255)== 'q' or chr(key&255) == 'Q'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	53
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	54 def saveKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	55 return chr(key&255) == 's'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	56
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	57 def int2FOURCC(x):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	58 fourcc = ''
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	59 for i in range(4):
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	60 fourcc += chr((x >> 8*i)&255)
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	61 return fourcc
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	62
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	63 def rgb2gray(rgb):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	64 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	65
159 115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	66 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	67 '''Loads and converts the point correspondences saved
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	68 by the matlab camera calibration tool'''
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	69 points = loadtxt(filename, delimiter=',')
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	70 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	71
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	72 def loadPointCorrespondences(filename):
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	73 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	74 points = loadtxt(filename, dtype=float32)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	75 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	76
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	77 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	78 '''Converts an OpenCV CvMat to numpy array.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	79 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	80 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]cvmat.width]cvmat.height)
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	81 for i in range(cvmat.rows):
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	82 for j in range(cvmat.cols):
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	83 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	84 return a
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	85
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	86 def createWhiteImage(height, width, filename):
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	87 img = ones((height, width, 3), uint8)*255
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	88 imsave(filename, img)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	89
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	90 if opencvAvailable:
402 f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 398 diff changeset	91 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
302 9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	92 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	93 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	94 return H
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	95
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	96 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	97 if lastCoordinate is None:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	98 last = positions.length()-1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	99 elif lastCoordinate >=0:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	100 last = min(positions.length()-1, lastCoordinate)
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	101 for i in range(0, last):
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	102 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	103
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	104 def cvImshow(windowName, img, rescale = 1.0):
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	105 'Rescales the image (in particular if too large)'
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	106 from cv2 import resize
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	107 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	108 size = (int(round(img.shape[1]rescale)), int(round(img.shape[0]rescale)))
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	109 resizedImg = resize(img, size)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	110 cv2.imshow(windowName, resizedImg)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	111 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	112 cv2.imshow(windowName, img)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	113
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	114 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	115 newImgSize = (int(round(widthundistortedImageMultiplication)), int(round(heightundistortedImageMultiplication)))
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 904 diff changeset	116 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
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	117 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	118
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	120 '''Plays the video(s)'''
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> 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 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> 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 26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate) 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 = []
e73e7b644428 generalized play-video for several files (already synchronized 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> 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
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	285 def tracking(configFilename, grouping, videoFilename = None, dbFilename = None, homographyFilename = None, maskFilename = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None):
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
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	306 pass#from time import time
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	307 #savetxt
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	308 #cmd += []
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	309 if distortionCoefficients is not None:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	310 cmd += ['--distortion-coefficients', ' '.join([str(x) for x in distortionCoefficients])]
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	311
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	312 #check_call([trackerExe, configFilename, trackingMode]) # , stderr = out, shell = True
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	313 print(cmd) # , stderr = out, shell = True
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	314
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	315 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	316 '''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	317 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	318 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	319 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	320 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	321
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	322 capture = cv2.VideoCapture(videoFilename)
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	323 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	324 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	325
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	326 windowName = 'frame'
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	327 if rescale == 1.:
94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	328 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	329
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	330 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	331 [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	332 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	333 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	334 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	335 frameNum = firstFrameNum
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	336 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	337 if lastFrameNumArg is None:
978 184f1dd307f9 corrected print and exception statements for Python 3 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 969 diff changeset	338 lastFrameNum = float("inf")
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	339 else:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	340 lastFrameNum = lastFrameNumArg
989 132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	341 if nZerosFilenameArg is None:
132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	342 if lastFrameNumArg is None:
132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	343 nZerosFilename = int(ceil(log10(objects[-1].getLastInstant())))
981 c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	344 else:
989 132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	345 nZerosFilename = int(ceil(log10(lastFrameNum)))
132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	346 else:
132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	347 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	348 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	349 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	350 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	351 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	352 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	353 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	354 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	355 # 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	356 for obj in objects[:]:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	357 if obj.existsAtInstant(frameNum):
236 eb4525853030 added script to display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 235 diff changeset	358 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	359 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	360 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	361 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	362 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	363 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	364 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	365 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	366 objDescription = '{} '.format(obj.num)
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	367 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	368 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	369 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	370 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	371 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	372 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	373 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	374 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	375 # 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	376 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	377 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	378 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	379 # 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	380 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	381 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	382 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	383 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	384 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	385 else:
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 = cvRed[colorType]
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	387 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	388 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	389 # 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	390 if not saveAllImages:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	391 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	392 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	393 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	394 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	395 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	396 if nFramesStep > 1:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	397 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	398 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	399 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	400 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	401
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	402 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	403 '''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	404 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	405 # 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	406 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	407 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	408 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	409 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	410 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	411 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	412 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	413
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	414 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	415 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	416 [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	417 [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	418
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 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	420 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	421
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	422 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	423 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	424 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	425 to distorted (original image)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	426 map1(x,y) = originalx, originaly'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	427 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	428 disty = npabs(map2-y)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	429 indices = logical_and(distx<maxDistance, disty<maxDistance)
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	430 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	431 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	432 yWeights = 1-disty[indices]
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	433 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	434
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	435 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	436 '''test 'perfect' inversion'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	437 undistortedTrajectory = moving.Trajectory()
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	438 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	439 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	440 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	441 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	442 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	443 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	444 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	445
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	446 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	447 '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	448 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	449 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	450 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	451 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	452 res = undistortedCoordinates(x,y, map1, map2)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	453 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	454 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	455 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	456 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	457
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	458 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	459 ''' Camera calibration searches through all the images (jpg or png) located
897 f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	460 in _path_ for matches to a checkerboard pattern of size checkboardSize.
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	461 These images should all be of the same camera with the same resolution.
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	462
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	463 For best results, use an asymetric board and ensure that the image has
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	464 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	465
897 f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	466 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	467
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	468 The code below is based off of:
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	469 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	470 Modified by Paul St-Aubin
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	471 '''
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	472 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	473
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	474 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	475 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	476
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	477 # 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	478 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	479 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	480
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	481 # 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	482 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	483 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	484
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	485 ## 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	486 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	487 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	488 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	489 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	490
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	491 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	492 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	493
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	494 # 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	495 if ret:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	496 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	497
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	498 if secondPassSearch:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	499 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	500
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	501 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	502 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	503
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	504 # Draw and display the corners
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	505 if display:
950 c03d2c0a4c04 corrected bugs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 947 diff changeset	506 cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	507 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	508 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	509 cv2.waitKey(0)
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	510 else:
b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	511 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	512 ## 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	513 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	514 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	515 return None
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	516 try:
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	517 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	518 if fixK2:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	519 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	520 if fixK3:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	521 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	522 if zeroTangent:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	523 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	524 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	525 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	526 return None
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	527 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	528 print('error: {}'.format(ret))
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	529 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	530
545 9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	531 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	532 '''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	533 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	534 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	535 [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	536 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	537
932 66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	538 def homographyProject(points, homography, output3D = False):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	539 '''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	540 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	541 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	542
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	543 if homography is not None and homography.size>0:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	544 if output3D:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	545 outputDim = 3
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	546 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	547 outputDim = 2
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	548 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	549 prod = dot(homography, augmentedPoints)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	550 return prod[:outputDim,:]/prod[2]
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	551 elif output3D:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	552 return append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	553 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	554 return points
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	555
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	556 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	557 '''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	558 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	559 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	560 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	561 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	562
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	563 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	564 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	565 return homographyProject(undistortedPoints.T, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	566 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	567 return homographyProject(points, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	568
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	569 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	570 '''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	571 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	572 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	573 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	574 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	575
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	576 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	577 projected3D = homographyProject(points, homography, True)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	578 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	579 return projected.reshape(-1,2).T
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	580 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	581 return homographyProject(points, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	582
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	583 def newCameraProject(points, newCameraMatrix):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	584 '''Projects points (2xN array) as if seen by camera
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	585 (or reverse by inverting the camera matrix)'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	586 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	587 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	588
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	589 if newCameraMatrix is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	590 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	591 projected = dot(newCameraMatrix, augmentedPoints)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	592 return projected[:2,:]
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	593 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	594 return points
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	595
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	596 if opencvAvailable:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	597 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	598 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	599 (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	600 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	601
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	602 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	603
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	604 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	605 (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	606 # 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	607 delta = []
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	608 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	609 if status[k] == 1:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	610 dp = p2-p1
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	611 d = npsum(dp**2)
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	612 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	613 delta.append(dp)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	614 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	615 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	616 else:
156 2eef5620c0b3 added key values for opencv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	617 print(dp)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	618 return None
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	619
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	620 if skimageAvailable:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	621 from skimage.feature import hog
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	622 from skimage import color, transform
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	623
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	624 def HOG(image, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2), blockNorm = 'L1', visualize = False, transformSqrt = False):
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	625 bwImg = color.rgb2gray(image)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	626 inputImg = transform.resize(bwImg, rescaleSize)
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	627 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt, True)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	628 if visualize:
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	629 from matplotlib.pyplot import imshow, figure, subplot
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	630 hogViz = features[1]
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	631 features = features[0]
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	632 figure()
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	633 subplot(1,2,1)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	634 imshow(inputImg)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	635 subplot(1,2,2)
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	636 imshow(hogViz)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	637 return float32(features)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	638
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	639 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations = 9, pixelsPerCell = (8,8), blockNorm = 'L1', cellsPerBlock = (2, 2), visualize = False, transformSqrt = False):
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	640 inputData = []
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	641 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	642 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	643 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	644 inputData.append(features)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	645
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	646 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	647 return array(inputData, dtype = float32), array([classLabel]*nImages)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	648
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	649
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	650 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	651 # running tests
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	652 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	653
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	654 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	655 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	656 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	657 suite = doctest.DocFileSuite('tests/cvutils.txt')
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	658 #suite = doctest.DocTestSuite()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	659 unittest.TextTestRunner().run(suite)
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	660 #doctest.testmod()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	661 #doctest.testfile("example.txt")

Mercurial Hosting > traffic-intelligence

annotate python/cvutils.py @ 1003:75af46516b2b