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annotate python/cvutils.py @ 931:8148991b1dab

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bug correcting
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 13 Jul 2017 00:52:53 -0400
parents 7db0f2853bfd
children 66f382852e61
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import utils, moving
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5
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6 try:
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7 import cv2
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8 opencvAvailable = True
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9 except ImportError:
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10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
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11 opencvAvailable = False
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12 try:
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13 import skimage
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14 skimageAvailable = True
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15 except ImportError:
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16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
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17 skimageAvailable = False
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18
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19 from sys import stdout, maxint
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20 from os import listdir
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21 from copy import deepcopy
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22 from math import floor, log10, ceil
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23
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24 from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil
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25 from numpy.linalg import inv
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26 from matplotlib.mlab import find
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27 from matplotlib.pyplot import imread, imsave
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30
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31 #import aggdraw # agg on top of PIL (antialiased drawing)
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34 cvRed = {'default': (0,0,255),
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35 'colorblind': (0,114,178)}
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36 cvGreen = {'default': (0,255,0),
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37 'colorblind': (0,158,115)}
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38 cvBlue = {'default': (255,0,0),
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39 'colorblind': (213,94,0)}
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40 cvCyan = {'default': (255, 255, 0),
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41 'colorblind': (240,228,66)}
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42 cvYellow = {'default': (0, 255, 255),
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43 'colorblind': (86,180,233)}
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44 cvMagenta = {'default': (255, 0, 255),
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45 'colorblind': (204,121,167)}
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46 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
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47 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
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49 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
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50 cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']}
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51
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52 def quitKey(key):
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53 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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54
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55 def saveKey(key):
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56 return chr(key&255) == 's'
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57
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58 def int2FOURCC(x):
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59 fourcc = ''
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60 for i in xrange(4):
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61 fourcc += unichr((x >> 8*i)&255)
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62 return fourcc
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63
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64 def rgb2gray(rgb):
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65 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
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67 def matlab2PointCorrespondences(filename):
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68 '''Loads and converts the point correspondences saved
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69 by the matlab camera calibration tool'''
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70 points = loadtxt(filename, delimiter=',')
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71 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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72
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73 def loadPointCorrespondences(filename):
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74 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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75 points = loadtxt(filename, dtype=float32)
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76 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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78 def cvMatToArray(cvmat):
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79 '''Converts an OpenCV CvMat to numpy array.'''
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80 print('Deprecated, use new interface')
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81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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82 for i in xrange(cvmat.rows):
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83 for j in xrange(cvmat.cols):
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84 a[i,j] = cvmat[i,j]
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85 return a
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86
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87 def createWhiteImage(height, width, filename):
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88 img = ones((height, width, 3), uint8)*255
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89 imsave(filename, img)
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91 if opencvAvailable:
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92 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
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93 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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94 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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95 return H
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96
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97 def arrayToCvMat(a, t = cv2.CV_64FC1):
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98 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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99 print('Deprecated, use new interface')
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100 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112
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101 for i in range(cvmat.rows):
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102 for j in range(cvmat.cols):
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103 cvmat[i,j] = a[i,j]
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104 return cvmat
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105
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106 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
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107 if lastCoordinate is None:
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108 last = positions.length()-1
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109 elif lastCoordinate >=0:
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110 last = min(positions.length()-1, lastCoordinate)
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111 for i in range(0, last):
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112 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
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113
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114 def cvImshow(windowName, img, rescale = 1.0):
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115 'Rescales the image (in particular if too large)'
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116 from cv2 import resize
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117 if rescale != 1.:
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118 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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119 resizedImg = resize(img, size)
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120 cv2.imshow(windowName, resizedImg)
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121 else:
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122 cv2.imshow(windowName, img)
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123
510
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
124 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
125 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
126 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
127 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1)
510
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
128
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
129 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
820
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
130 '''Plays the video(s)'''
868
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
131 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
132 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
133 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
134 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
135 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
136 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
137 return
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
138 if windowNames is None:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
139 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))]
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
140 wait = 5
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
141 if rescale == 1.:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
142 for windowName in windowNames:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
143 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
144 if frameRate > 0:
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
145 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
146 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
147 wait = 0
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
148 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
149 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
150 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
151 ret = True
821
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
152 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
153 if firstFrameNums is not None:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
154 for i in xrange(len(captures)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
155 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i])
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
156 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
157 rets = []
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
158 images = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
159 for cap in captures:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
160 ret, img = cap.read()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
161 rets.append(ret)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
162 images.append(img)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
163 if array(rets).all():
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
164 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
165 print('frame shown {0}'.format(nFramesShown))
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
166 for i in xrange(len(filenames)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
167 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
168 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
169 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
170 key = cv2.waitKey(wait)
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
171 if saveKey(key):
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
172 cv2.imwrite('image-{}.png'.format(frameNum), img)
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
173 nFramesShown += step
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
174 if step > 1:
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
175 for i in xrange(len(captures)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
176 captures.set(cv2.cv.CV_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
177 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
178 else:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
179 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
180
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
181 def infoVideo(filename):
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
182 '''Provides all available info on video '''
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
183 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
184 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
185 cv2.cv.CV_CAP_PROP_FPS: "fps",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
186 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
187 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
188 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
189 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
190 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
191 capture = cv2.VideoCapture(filename)
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
192 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
193 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
194 #cv2.cv.CV_CAP_PROP_CONTRAST
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
195 #cv2.cv.CV_CAP_PROP_CONVERT_RGB
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
196 #cv2.cv.CV_CAP_PROP_EXPOSURE
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
197 cv2.cv.CV_CAP_PROP_FORMAT,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
198 cv2.cv.CV_CAP_PROP_FOURCC,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
199 cv2.cv.CV_CAP_PROP_FPS,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
200 cv2.cv.CV_CAP_PROP_FRAME_COUNT,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
201 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
202 cv2.cv.CV_CAP_PROP_FRAME_WIDTH,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
203 #cv2.cv.CV_CAP_PROP_GAIN,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
204 #cv2.cv.CV_CAP_PROP_HUE
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
205 #cv2.cv.CV_CAP_PROP_MODE
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
206 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
207 #cv2.cv.CV_CAP_PROP_POS_FRAMES
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
208 #cv2.cv.CV_CAP_PROP_POS_MSEC
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
209 #cv2.cv.CV_CAP_PROP_RECTIFICATION,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
210 #cv2.cv.CV_CAP_PROP_SATURATION
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
211 ]:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
212 prop = capture.get(cvprop)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
213 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0:
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
214 prop = int2FOURCC(int(prop))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
215 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
216 else:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
217 print('Video capture for {} failed'.format(filename))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
218
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
219 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
220 '''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
221 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
222 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
223 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
224 rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
225 if rawCount < 0:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
226 rawCount = lastFrameNum+1
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
227 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
228 ret = False
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
229 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
230 frameNum = firstFrameNum
858
2faabcbde2c4 minor improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 821
diff changeset
231 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
232 ret, img = capture.read()
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
233 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
234 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
235 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
236 i += 1
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
237 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
238 if saveImage:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
239 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
240 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
241 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
242 images.append(img)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
243 frameNum +=step
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
244 if step > 1:
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
245 capture.set(cv2.cv.CV_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
246 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
247 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
248 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
249 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
250
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
251 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
252 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
253 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
254 fps = capture.get(cv2.cv.CV_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
255 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
256 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
257 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
258 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
259 return None
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
260
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
261 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
262 '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
263 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
264 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
265 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
266 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
267 if f.existsAtInstant(frameNum):
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
268 p = f.getPositionAtInstant(frameNum)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
269 x.append(p.x)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
270 y.append(p.y)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
271 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
272 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
273 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
274 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
275 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
276 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
277 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
278 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
279 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
280 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
281 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
282 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
283
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
284 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
285 'Computes the bounding box of object at frameNum'
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
286 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
287 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
288 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
289 else:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
290 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
291
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
292 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
293 '''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
294 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
295 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
296 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
297 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
298
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
299 capture = cv2.VideoCapture(videoFilename)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
300 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
301 height = int(capture.get(cv2.cv.CV_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
302
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
303 windowName = 'frame'
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
304 if rescale == 1.:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
305 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
306
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
307 if undistort: # setup undistortion
510
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
308 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
309 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
310 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
311 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
312 frameNum = firstFrameNum
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
313 capture.set(cv2.cv.CV_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
314 if lastFrameNumArg is None:
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
315 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
316 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
317 lastFrameNum = lastFrameNumArg
864
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
318 if nZerosFilenameArg is None:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
319 nZerosFilename = int(ceil(log10(lastFrameNum)))
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
320 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
321 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
322 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
323 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
324 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
325 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
326 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
327 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
328 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
329 # plot objects
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
330 for obj in objects:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
331 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
332 if not hasattr(obj, 'projectedPositions'):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
333 if homography is not None:
218
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
334 obj.projectedPositions = obj.positions.project(homography)
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
335 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
336 obj.projectedPositions = obj.positions
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
337 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
338 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
339 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
340 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
341 objDescription = '{} '.format(obj.num)
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
342 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
343 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
344 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
345 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
346 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
347 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
903
81ee5aaf213d changed workflow of display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 897
diff changeset
348 if obj.getLastInstant() == frameNum:
81ee5aaf213d changed workflow of display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 897
diff changeset
349 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
350 # plot object bounding boxes
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
351 if frameNum in boundingBoxes.keys():
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
352 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
353 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
354 # 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
355 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
356 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
357 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
358 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
359 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
360 else:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
361 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
362 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
363 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
364 # 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
365 if not saveAllImages:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
366 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
367 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
368 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
369 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
370 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
371 if nFramesStep > 1:
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
372 capture.set(cv2.cv.CV_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
373 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
374 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
375 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
376
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
377 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
378 '''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
379 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
380 # 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
381 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
382 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
383 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
384 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
385 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
386 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
387 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
388
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
389 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
390 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
391 [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
392 [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
393
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
394 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
395 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
396
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
397 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
398 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
399 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
400 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
401 map1(x,y) = originalx, originaly'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
402 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
403 disty = npabs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
404 indices = logical_and(distx<maxDistance, disty<maxDistance)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
405 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
406 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
407 yWeights = 1-disty[indices]
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
408 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
409
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
410 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
411 '''test 'perfect' inversion'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
412 undistortedTrajectory = moving.Trajectory()
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
413 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
414 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
415 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
416 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
417 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
418 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
419 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
420
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
421 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
422 '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
423 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
424 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
425 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
426 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
427 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
428 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
429 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
430 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
431 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
432
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
433 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
434 ''' Camera calibration searches through all the images (jpg or png) located
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
435 in _path_ for matches to a checkerboard pattern of size checkboardSize.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
436 These images should all be of the same camera with the same resolution.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
437
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
438 For best results, use an asymetric board and ensure that the image has
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
439 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
440
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
441 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
442
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
443 The code below is based off of:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
444 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
445 Modified by Paul St-Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
446 '''
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
447 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
448
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
449 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
450 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
451
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
452 # 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
453 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
454 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
455
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
456 # 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
457 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
458 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
459
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
460 ## 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
461 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
462 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
463 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
464 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
465
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
466 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
467 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
468
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
469 # 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
470 if ret:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
471 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
472
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
473 if secondPassSearch:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
474 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
475
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
476 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
477 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
478
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
479 # Draw and display the corners
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
480 if display:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
481 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
482 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
483 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
484 cv2.waitKey(0)
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
485 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
486 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
487 ## 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
488 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
489 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
490 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
491 try:
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
492 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
493 if fixK2:
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
494 flags += cv2.cv.CV_CALIB_FIX_K2
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
495 if fixK3:
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
496 flags += cv2.cv.CV_CALIB_FIX_K3
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
497 if zeroTangent:
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
498 flags += cv2.cv.CV_CALIB_ZERO_TANGENT_DIST
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
499 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
500 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
501 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
502 savetxt('intrinsic-camera.txt', camera_matrix)
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
503 print 'error: {}'.format(ret)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
504 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
505
545
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
506 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
507 '''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
508 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
509 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
510 [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
511 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
512
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
513
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
514 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
515 '''Prints the cvmat to out'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
516 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
517 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
518 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
519 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
520 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
521
930
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
522 def projectArray(homography, points, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
523 '''Returns the coordinates of the projected points through homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
524 (format: array 2xN points)'''
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
525 if points.shape[0] != 2:
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
526 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
527
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
528 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
529 if homography is not None and homography.size>0:
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
530 prod = dot(homography, augmentedPoints)
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
531 projected = prod/prod[2]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
532 else:
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
533 projected = augmentedPoints
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
534
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
535 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
930
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
536 if newCameraMatrix is not None:
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
537 invNewCameraMatrix = inv(newCameraMatrix)
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
538 reducedPoints = dot(invNewCameraMatrix, projected)
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
539 else:
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
540 reducedPoints = projected
7db0f2853bfd corrected projection back to image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
541 projected, jacobian = cv2.projectPoints(reducedPoints.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
542 projected = projected.reshape(-1,2).T
931
8148991b1dab bug correcting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 930
diff changeset
543 return projected[:2,:]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
544
931
8148991b1dab bug correcting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 930
diff changeset
545 def project(homography, p, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 315
diff changeset
546 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
547 through homography'''
931
8148991b1dab bug correcting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 930
diff changeset
548 return projectArray(homography, array([[p[0]],[p[1]]]), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix)
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
549
931
8148991b1dab bug correcting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 930
diff changeset
550 def projectTrajectory(homography, trajectory, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None):
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
551 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
552 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
553 [y1, y2, ...]]'''
931
8148991b1dab bug correcting
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 930
diff changeset
554 return projectArray(homography, array(trajectory), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix)
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
555
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
556 def invertHomography(homography):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
557 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
558 Unnecessary for reprojection over camera image'''
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
559 invH = inv(homography)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
560 invH /= invH[2,2]
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
561 return invH
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
562
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
563 def undistortTrajectory(invMap1, invMap2, positions):
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
564 floorPositions = npfloor(positions)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
565 #ceilPositions = npceil(positions)
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
566 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
567 for i in xrange(len(positions[0])):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
568 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
569 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
570 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
571 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
572 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
573 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
574 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
575 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
576 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
577 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
578 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
579 undistortedTrajectory[0].append(x)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
580 undistortedTrajectory[1].append(y)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
581 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
582
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
583 def projectGInputPoints(homography, points):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
584 return projectTrajectory(homography, array(points+[points[0]]).T)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
585
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
586 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
587 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
588 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
589 (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
590 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
591
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
592 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
593
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
594 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
595 (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
596 # 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
597 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
598 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
599 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
600 dp = p2-p1
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
601 d = npsum(dp**2)
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
602 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
603 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
604 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
605 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
606 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
607 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
608 return None
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
609
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
610 if skimageAvailable:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
611 from skimage.feature import hog
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
612 from skimage import color, transform
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
613
893
ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 868
diff changeset
614 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8,8), cellsPerBlock=(2,2), blockNorm='L1', visualize=False, normalize=False):
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615 bwImg = color.rgb2gray(image)
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616 inputImg = transform.resize(bwImg, rescaleSize)
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617 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize)
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618 if visualize:
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619 from matplotlib.pyplot import imshow, figure, subplot
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620 hogViz = features[1]
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621 features = features[0]
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622 figure()
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623 subplot(1,2,1)
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624 imshow(inputImg)
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625 subplot(1,2,2)
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626 imshow(hogViz)
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627 return float32(features)
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628
893
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629 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations=9, pixelsPerCell=(8,8), blockNorm='L1', cellsPerBlock=(2, 2), visualize=False, normalize=False):
365
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630 inputData = []
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631 for filename in listdir(imageDirectory):
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632 img = imread(imageDirectory+filename)
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633 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize)
365
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634 inputData.append(features)
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635
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diff changeset
636 nImages = len(inputData)
788
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diff changeset
637 return array(inputData, dtype = float32), array([classLabel]*nImages)
365
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638
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639
807
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640 #########################
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641 # running tests
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642 #########################
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643
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644 if __name__ == "__main__":
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645 import doctest
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646 import unittest
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647 suite = doctest.DocFileSuite('tests/cvutils.txt')
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648 #suite = doctest.DocTestSuite()
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649 unittest.TextTestRunner().run(suite)
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diff changeset
650 #doctest.testmod()
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651 #doctest.testfile("example.txt")