Mercurial Hosting > traffic-intelligence

annotate scripts/undistort-video.py @ 751:79405a938407 dev

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corrected bug
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 28 Oct 2015 23:22:57 -0400
parents 3058e00887bc
children d72e4bcc1e36
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9c429c7efe89 added script to generate undistorted images from video
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1 #! /usr/bin/env python
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2
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3 import sys, argparse
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4
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5 import numpy as np
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6 import cv2
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7
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8 import cvutils
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9 from math import ceil, log10
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10
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11 parser = argparse.ArgumentParser(description='''The program converts a video into a series of images corrected for distortion. One can then use mencoder to generate a movie, eg
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12 $ mencoder 'mf://./*.png' -mf fps=[framerate]:type=png -ovc xvid -xvidencopts bitrate=[bitrate] -nosound -o [output.avi]''')
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13
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14 parser.add_argument('-i', dest = 'videoFilename', help = 'filename of the video sequence')
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15 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
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16 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
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17 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
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18 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
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19 parser.add_argument('-l', dest = 'lastFrameNum', help = 'number of last frame number to save', type = int)
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20
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21 args = parser.parse_args()
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22
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23 intrinsicCameraMatrix = np.loadtxt(args.intrinsicCameraMatrixFilename)
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24 #distortionCoefficients = args.distortionCoefficients
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25 #undistortedImageMultiplication = args.undistortedImageMultiplication
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26 #firstFrameNum = params.firstFrameNum
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27
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28 capture = cv2.VideoCapture(args.videoFilename)
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29 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
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30 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
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31 [map1, map2] = cvutils.computeUndistortMaps(width, height, args.undistortedImageMultiplication, intrinsicCameraMatrix, args.distortionCoefficients)
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32 if capture.isOpened():
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33 ret = True
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34 frameNum = args.firstFrameNum
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35 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, args.firstFrameNum)
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36 if args.lastFrameNum is None:
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37 from sys import maxint
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38 lastFrameNum = maxint
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39 else:
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40 lastFrameNum = args.lastFrameNum
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41 nZerosFilename = int(ceil(log10(lastFrameNum)))
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42 while ret and frameNum < lastFrameNum:
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43 ret, img = capture.read()
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44 if ret:
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45 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
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46 cv2.imwrite('undistorted-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
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47 frameNum += 1