Mercurial Hosting > traffic-intelligence
annotate python/cvutils.py @ 931:8148991b1dab
bug correcting
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 13 Jul 2017 00:52:53 -0400 |
parents | 7db0f2853bfd |
children | 66f382852e61 |
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28 | 1 #! /usr/bin/env python |
2 '''Image/Video utilities''' | |
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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28 |
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29 |
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30 |
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31 #import aggdraw # agg on top of PIL (antialiased drawing) |
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32 |
28 | 33 |
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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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48 |
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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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66 |
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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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77 |
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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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90 |
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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) |
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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): |
658
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Added **kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility.
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112 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs) |
203
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added code to display trajectories on videa
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171
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113 |
385
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added rescaling options to scripts play-video and display-trajectories
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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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diff
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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 |
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compute homography works with undistortion
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diff
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124 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients): |
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125 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication))) |
924
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work in progress on undistortion acceleration
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diff
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126 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True) |
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127 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1) |
510
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parents:
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128 |
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added colors more friendly for color blind people (thanks Ryan Louie!)
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129 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False): |
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130 '''Plays the video(s)''' |
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131 if colorBlind: |
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132 colorType = 'colorblind' |
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133 else: |
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134 colorType = 'default' |
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135 if len(filenames) == 0: |
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136 print('Empty filename list') |
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137 return |
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138 if windowNames is None: |
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139 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))] |
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140 wait = 5 |
685
94b291a5f933
several updates for display
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parents:
680
diff
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141 if rescale == 1.: |
820
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142 for windowName in windowNames: |
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143 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) |
305
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added sample to replay video
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144 if frameRate > 0: |
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145 wait = int(round(1000./frameRate)) |
381
387cc0142211
script to replay event annotations
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146 if interactive: |
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147 wait = 0 |
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148 captures = [cv2.VideoCapture(fn) for fn in filenames] |
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149 if array([cap.isOpened() for cap in captures]).all(): |
149
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added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
116
diff
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150 key = -1 |
227
b7612c6d5702
cleaned the code
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parents:
226
diff
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151 ret = True |
821
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parents:
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diff
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152 nFramesShown = 0 |
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153 if firstFrameNums is not None: |
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parents:
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154 for i in xrange(len(captures)): |
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parents:
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diff
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155 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]) |
305
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parents:
303
diff
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156 while ret and not quitKey(key): |
820
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diff
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157 rets = [] |
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158 images = [] |
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159 for cap in captures: |
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parents:
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diff
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160 ret, img = cap.read() |
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parents:
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diff
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|
161 rets.append(ret) |
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diff
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162 images.append(img) |
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diff
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|
163 if array(rets).all(): |
381
387cc0142211
script to replay event annotations
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parents:
365
diff
changeset
|
164 if printFrames: |
821
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parents:
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diff
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|
165 print('frame shown {0}'.format(nFramesShown)) |
26daf35180ad
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
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:
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diff
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|
167 if text is not None: |
868
1fdafa9f6bf4
added colors more friendly for color blind people (thanks Ryan Louie!)
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parents:
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diff
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|
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:
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diff
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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
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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
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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
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parents:
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diff
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|
179 print('Video captures for {} failed'.format(filenames)) |
149
0f552c8b1650
added python function to play video
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parents:
116
diff
changeset
|
180 |
657
51269511229b
added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
639
diff
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|
181 def infoVideo(filename): |
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parents:
639
diff
changeset
|
182 '''Provides all available info on video ''' |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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799
diff
changeset
|
183 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format", |
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|
184 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)", |
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diff
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185 cv2.cv.CV_CAP_PROP_FPS: "fps", |
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186 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames", |
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187 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh", |
52aa03260f03
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188 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width", |
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diff
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|
189 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification", |
52aa03260f03
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diff
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|
190 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"} |
657
51269511229b
added script printing video info
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parents:
639
diff
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|
191 capture = cv2.VideoCapture(filename) |
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parents:
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diff
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|
192 if capture.isOpened(): |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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diff
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|
193 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS |
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diff
changeset
|
194 #cv2.cv.CV_CAP_PROP_CONTRAST |
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|
195 #cv2.cv.CV_CAP_PROP_CONVERT_RGB |
52aa03260f03
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diff
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|
196 #cv2.cv.CV_CAP_PROP_EXPOSURE |
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|
197 cv2.cv.CV_CAP_PROP_FORMAT, |
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198 cv2.cv.CV_CAP_PROP_FOURCC, |
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|
199 cv2.cv.CV_CAP_PROP_FPS, |
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|
200 cv2.cv.CV_CAP_PROP_FRAME_COUNT, |
52aa03260f03
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diff
changeset
|
201 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, |
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diff
changeset
|
202 cv2.cv.CV_CAP_PROP_FRAME_WIDTH, |
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diff
changeset
|
203 #cv2.cv.CV_CAP_PROP_GAIN, |
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diff
changeset
|
204 #cv2.cv.CV_CAP_PROP_HUE |
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diff
changeset
|
205 #cv2.cv.CV_CAP_PROP_MODE |
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diff
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|
206 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO |
52aa03260f03
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diff
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|
207 #cv2.cv.CV_CAP_PROP_POS_FRAMES |
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diff
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|
208 #cv2.cv.CV_CAP_PROP_POS_MSEC |
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diff
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|
209 #cv2.cv.CV_CAP_PROP_RECTIFICATION, |
52aa03260f03
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diff
changeset
|
210 #cv2.cv.CV_CAP_PROP_SATURATION |
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
211 ]: |
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diff
changeset
|
212 prop = capture.get(cvprop) |
807
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diff
changeset
|
213 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0: |
657
51269511229b
added script printing video info
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parents:
639
diff
changeset
|
214 prop = int2FOURCC(int(prop)) |
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parents:
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diff
changeset
|
215 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop)) |
51269511229b
added script printing video info
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diff
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|
216 else: |
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diff
changeset
|
217 print('Video capture for {} failed'.format(filename)) |
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diff
changeset
|
218 |
798
5b99b676265e
modified to get images very time step
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parents:
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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
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parents:
149
diff
changeset
|
221 images = [] |
396
167f6ec44ec5
cleaned function to save images
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parents:
393
diff
changeset
|
222 capture = cv2.VideoCapture(videoFilename) |
398
3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
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parents:
396
diff
changeset
|
223 if capture.isOpened(): |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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parents:
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diff
changeset
|
224 rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT) |
680
da1352b89d02
classification is working
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parents:
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diff
changeset
|
225 if rawCount < 0: |
798
5b99b676265e
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parents:
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diff
changeset
|
226 rawCount = lastFrameNum+1 |
680
da1352b89d02
classification is working
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parents:
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diff
changeset
|
227 nDigits = int(floor(log10(rawCount)))+1 |
150
404f3cade05f
added python function to get image frames from video filenames
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parents:
149
diff
changeset
|
228 ret = False |
807
52aa03260f03
reversed all code to OpenCV 2.4.13
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parents:
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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
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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
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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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 | 318 if nZerosFilenameArg is None: |
319 nZerosFilename = int(ceil(log10(lastFrameNum))) | |
320 else: | |
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 | 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 | 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
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428 if not isnan(res).any(): |
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429 invMap1[y,x] = res[0] |
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430 invMap2[y,x] = res[1] |
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431 return invMap1, invMap2 |
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432 |
926
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433 def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True): |
544
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434 ''' Camera calibration searches through all the images (jpg or png) located |
897 | 435 in _path_ for matches to a checkerboard pattern of size checkboardSize. |
436 These images should all be of the same camera with the same resolution. | |
437 | |
438 For best results, use an asymetric board and ensure that the image has | |
439 very high contrast, including the background. | |
544
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440 |
897 | 441 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners) |
442 | |
443 The code below is based off of: | |
444 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html | |
445 Modified by Paul St-Aubin | |
446 ''' | |
544
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447 import glob, os |
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448 |
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449 # termination criteria |
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450 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) |
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451 |
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452 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) |
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453 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32) |
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454 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2) |
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455 |
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456 # Arrays to store object points and image points from all the images. |
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457 objpoints = [] # 3d point in real world space |
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458 imgpoints = [] # 2d points in image plane. |
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459 |
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460 ## Loop throuhg all images in _path_ |
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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]')) |
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462 for fname in images: |
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463 img = cv2.imread(fname) |
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464 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) |
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465 |
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466 # Find the chess board corners |
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467 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None) |
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468 |
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469 # If found, add object points, image points (after refining them) |
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470 if ret: |
774 | 471 print('Found pattern in '+fname) |
544
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472 |
772
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473 if secondPassSearch: |
544
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474 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria) |
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475 |
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476 objpoints.append(objp) |
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477 imgpoints.append(corners) |
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478 |
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479 # Draw and display the corners |
772
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|
480 if display: |
544
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changeset
|
481 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret) |
772
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|
482 if img is not None: |
544
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|
483 cv2.imshow('img',img) |
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|
484 cv2.waitKey(0) |
774 | 485 else: |
486 print('Pattern not found in '+fname) | |
544
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|
487 ## Close up image loading and calibrate |
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488 cv2.destroyAllWindows() |
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489 if len(objpoints) == 0 or len(imgpoints) == 0: |
895
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|
490 return None |
544
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|
491 try: |
926
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492 flags = 0 |
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493 if fixK2: |
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494 flags += cv2.cv.CV_CALIB_FIX_K2 |
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495 if fixK3: |
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496 flags += cv2.cv.CV_CALIB_FIX_K3 |
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497 if zeroTangent: |
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changeset
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498 flags += cv2.cv.CV_CALIB_ZERO_TANGENT_DIST |
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changeset
|
499 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags) |
544
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|
500 except NameError: |
895
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|
501 return None |
544
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diff
changeset
|
502 savetxt('intrinsic-camera.txt', camera_matrix) |
926
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diff
changeset
|
503 print 'error: {}'.format(ret) |
544
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diff
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|
504 return camera_matrix, dist_coeffs |
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diff
changeset
|
505 |
545
9816fab353f3
added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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544
diff
changeset
|
506 def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR): |
9816fab353f3
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diff
changeset
|
507 '''Undistorts the image passed in argument''' |
9816fab353f3
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diff
changeset
|
508 width = img.shape[1] |
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diff
changeset
|
509 height = img.shape[0] |
9816fab353f3
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parents:
544
diff
changeset
|
510 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) |
9816fab353f3
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544
diff
changeset
|
511 return cv2.remap(img, map1, map2, interpolation=interpolation) |
9816fab353f3
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parents:
544
diff
changeset
|
512 |
9816fab353f3
added function to undistort image, mostly for checking camera calibration results
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parents:
544
diff
changeset
|
513 |
99
e7dc5a780f09
added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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98
diff
changeset
|
514 def printCvMat(cvmat, out = stdout): |
e7dc5a780f09
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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>
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381
diff
changeset
|
516 print('Deprecated, use new interface') |
99
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diff
changeset
|
517 for i in xrange(cvmat.rows): |
e7dc5a780f09
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diff
changeset
|
518 for j in xrange(cvmat.cols): |
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diff
changeset
|
519 out.write('{0} '.format(cvmat[i,j])) |
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98
diff
changeset
|
520 out.write('\n') |
e7dc5a780f09
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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
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parents:
381
diff
changeset
|
523 '''Returns the coordinates of the projected points through homography |
6da9cf5609aa
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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381
diff
changeset
|
524 (format: array 2xN points)''' |
929
be28a3538dc9
work in progress on projection
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parents:
928
diff
changeset
|
525 if points.shape[0] != 2: |
98
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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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>
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63
diff
changeset
|
527 |
929
be28a3538dc9
work in progress on projection
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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
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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 | 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
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diff
changeset
|
537 invNewCameraMatrix = inv(newCameraMatrix) |
7db0f2853bfd
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diff
changeset
|
538 reducedPoints = dot(invNewCameraMatrix, projected) |
7db0f2853bfd
corrected projection back to image space
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parents:
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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
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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 | 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 | 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
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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 | 551 '''Projects a series of points in the format |
552 [[x1, x2, ...], | |
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553 [y1, y2, ...]]''' |
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554 return projectArray(homography, array(trajectory), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix) |
28 | 555 |
48
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556 def invertHomography(homography): |
384
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557 '''Returns an inverted homography |
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558 Unnecessary for reprojection over camera image''' |
48
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559 invH = inv(homography) |
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560 invH /= invH[2,2] |
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561 return invH |
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562 |
474
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563 def undistortTrajectory(invMap1, invMap2, positions): |
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564 floorPositions = npfloor(positions) |
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565 #ceilPositions = npceil(positions) |
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566 undistortedTrajectory = [[],[]] |
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567 for i in xrange(len(positions[0])): |
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568 x,y = None, None |
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569 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]: |
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570 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]] |
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571 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]] |
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572 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1] |
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573 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1] |
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574 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]] |
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575 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]] |
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576 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0: |
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577 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX) |
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578 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY) |
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579 undistortedTrajectory[0].append(x) |
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580 undistortedTrajectory[1].append(y) |
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581 return undistortedTrajectory |
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582 |
491
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583 def projectGInputPoints(homography, points): |
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584 return projectTrajectory(homography, array(points+[points[0]]).T) |
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585 |
365
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586 if opencvAvailable: |
154
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587 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)): |
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588 '''Computes the translation of img2 with respect to img1 |
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589 (loaded using OpenCV as numpy arrays) |
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590 img1Points are used to compute the translation |
100
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591 |
154
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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
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593 |
154
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594 nextPoints = array([]) |
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595 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria) |
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596 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err |
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597 delta = [] |
112
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598 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)): |
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599 if status[k] == 1: |
154
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600 dp = p2-p1 |
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601 d = npsum(dp**2) |
154
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602 if d < maxTranslation2: |
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603 delta.append(dp) |
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604 if len(delta) >= minNMatches: |
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605 return median(delta, axis=0) |
112
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606 else: |
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607 print(dp) |
112
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608 return None |
365
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609 |
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610 if skimageAvailable: |
680
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611 from skimage.feature import hog |
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612 from skimage import color, transform |
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613 |
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614 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8,8), cellsPerBlock=(2,2), blockNorm='L1', visualize=False, normalize=False): |
411
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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) |
411
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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) |
680
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624 imshow(inputImg) |
411
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625 subplot(1,2,2) |
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626 imshow(hogViz) |
680
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627 return float32(features) |
411
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628 |
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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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636 nImages = len(inputData) |
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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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650 #doctest.testmod() |
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651 #doctest.testfile("example.txt") |