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annotate python/cvutils.py @ 509:935430b1d408

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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 23 May 2014 16:27:26 -0400
parents 343cfd185ca6
children b0dac840c24f
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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 try:
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5 import cv2
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6 opencvAvailable = True
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7 except ImportError:
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8 print('OpenCV library could not be loaded (video replay functions will not be available)')
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9 opencvAvailable = False
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10 try:
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11 import skimage
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12 skimageAvailable = True
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13 except ImportError:
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14 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
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15 skimageAvailable = False
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17 from sys import stdout
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19 import utils
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21 #import aggdraw # agg on top of PIL (antialiased drawing)
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22 #import utils
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23
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24 __metaclass__ = type
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26 cvRed = (0,0,255)
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27 cvGreen = (0,255,0)
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28 cvBlue = (255,0,0)
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29 cvColors = utils.PlottingPropertyValues([cvRed,
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30 cvGreen,
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31 cvBlue])
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32
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33 def quitKey(key):
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34 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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35
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36 def saveKey(key):
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37 return chr(key&255) == 's'
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38
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39 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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40 '''Draws lines over the image '''
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41 import Image, ImageDraw # PIL
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42
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43 img = Image.open(filename)
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44
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45 draw = ImageDraw.Draw(img)
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46 #draw = aggdraw.Draw(img)
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47 #pen = aggdraw.Pen("red", width)
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48 for p1, p2 in zip(origins, destinations):
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49 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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50 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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51 del draw
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52
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53 #out = utils.openCheck(resultFilename)
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54 img.save(resultFilename)
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55
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56 def matlab2PointCorrespondences(filename):
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57 '''Loads and converts the point correspondences saved
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58 by the matlab camera calibration tool'''
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59 from numpy.lib.io import loadtxt, savetxt
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60 from numpy.lib.function_base import append
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61 points = loadtxt(filename, delimiter=',')
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62 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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64 def loadPointCorrespondences(filename):
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65 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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66 from numpy.lib.npyio import loadtxt
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67 from numpy import float32
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68 points = loadtxt(filename, dtype=float32)
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69 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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71 def cvMatToArray(cvmat):
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72 '''Converts an OpenCV CvMat to numpy array.'''
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73 print('Deprecated, use new interface')
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74 from numpy.core.multiarray import zeros
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75 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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76 for i in xrange(cvmat.rows):
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77 for j in xrange(cvmat.cols):
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78 a[i,j] = cvmat[i,j]
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79 return a
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81 if opencvAvailable:
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82 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
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83 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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84 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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85 return H
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86
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87 def arrayToCvMat(a, t = cv2.CV_64FC1):
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88 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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89 print('Deprecated, use new interface')
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90 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
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91 for i in range(cvmat.rows):
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92 for j in range(cvmat.cols):
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93 cvmat[i,j] = a[i,j]
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94 return cvmat
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95
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96 def draw(img, positions, color, lastCoordinate = None):
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97 last = lastCoordinate+1
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98 if lastCoordinate != None and lastCoordinate >=0:
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99 last = min(positions.length()-1, lastCoordinate)
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100 for i in range(0, last-1):
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101 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color)
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102
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103 def cvImshow(windowName, img, rescale = 1.0):
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104 'Rescales the image (in particular if too large)'
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105 from cv2 import resize
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106 if rescale != 1.:
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107 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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108 resizedImg = resize(img, size)
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109 cv2.imshow(windowName, resizedImg)
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110 else:
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111 cv2.imshow(windowName, img)
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112
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113 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.):
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114 '''Plays the video'''
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115 wait = 5
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116 if frameRate > 0:
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117 wait = int(round(1000./frameRate))
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118 if interactive:
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119 wait = 0
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120 capture = cv2.VideoCapture(filename)
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121 if capture.isOpened():
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122 key = -1
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123 ret = True
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124 frameNum = firstFrameNum
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125 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
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126 while ret and not quitKey(key):
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127 ret, img = capture.read()
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128 if ret:
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129 if printFrames:
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diff changeset
130 print('frame {0}'.format(frameNum))
226
91197f6a03fe added goto framenum
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 224
diff changeset
131 frameNum+=1
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
132 if text != None:
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
133 cv2.putText(img, text, (10,50), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
385
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
134 cvImshow('frame', img, rescale)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
135 key = cv2.waitKey(wait)
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
136 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
137 else:
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
138 print('Video capture for {} failed'.format(videoFilename))
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
139
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
140 def getImagesFromVideo(videoFilename, firstFrameNum = 0, nFrames = 1, saveImage = False, outputPrefix = 'image'):
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
141 '''Returns nFrames images from the video sequence'''
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
142 from math import floor, log10
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
143 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
144 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
145 if capture.isOpened():
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
146 nDigits = int(floor(log10(capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT))))+1
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
147 ret = False
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
148 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
149 imgNum = 0
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
150 while imgNum<nFrames:
171
8e7b354666ec corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 160
diff changeset
151 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
152 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
153 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
154 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
155 i += 1
171
8e7b354666ec corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 160
diff changeset
156 if 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
157 if saveImage:
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
158 imgNumStr = format(firstFrameNum+imgNum, '0{}d'.format(nDigits))
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
159 cv2.imwrite(outputPrefix+imgNumStr+'.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
160 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
161 images.append(img)
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
162 imgNum +=1
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
163 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
164 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
165 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
166 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
167
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
168 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
169 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
170 if capture.isOpened():
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
171 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
172 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
173 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
174 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
175 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
176 return None
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
177
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
178 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, pixelThreshold = 800):
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
179 'Computes the bounding box 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
180 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
181 y = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
182 for f in obj.features:
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
183 if f.existsAtInstant(frameNum):
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
184 projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
185 x.append(projectedPosition.x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
186 y.append(projectedPosition.y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
187 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
188 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
189 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
190 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
191 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
192 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
193 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
194 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
195 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
196 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
197 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
198 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > pixelThreshold:
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
199 imgcrop = 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
200 else:
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
201 imgcrop = []
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
202 return imgcrop, 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
203
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
204
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
205 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
206 '''Displays the objects overlaid frame by frame over the video '''
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
207 from moving import userTypeNames
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
208 from math import ceil, log10
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
209 from numpy import identity, array
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
210
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
211 capture = cv2.VideoCapture(videoFilename)
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
212 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
213 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
214
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
215 if undistort: # setup undistortion
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
216 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
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
217 from copy import deepcopy
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
218 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
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
219 newCameraMatrix[0,2] = newImgSize[0]/2.
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
220 newCameraMatrix[1,2] = newImgSize[1]/2.
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
221 [map1, map2] = cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
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
222
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
223 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
224 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
225 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
226 frameNum = firstFrameNum
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
227 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
228 if lastFrameNumArg == None:
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
229 from sys import maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
230 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
231 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
232 lastFrameNum = lastFrameNumArg
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
233 nZerosFilename = int(ceil(log10(lastFrameNum)))
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
234 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
235 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
236 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
237 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
238 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
239 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
240 print('frame {0}'.format(frameNum))
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
241 for obj in objects:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
242 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
243 if not hasattr(obj, 'projectedPositions'):
218
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
244 if homography != None:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
245 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
246 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
247 obj.projectedPositions = obj.positions
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
248 draw(img, obj.projectedPositions, cvRed, frameNum-obj.getFirstInstant())
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
249 if frameNum in boundingBoxes.keys():
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
250 for rect in boundingBoxes[frameNum]:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
251 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvRed)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
252 elif obj.features != None:
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
253 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height)
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diff changeset
254 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 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
255 objDescription = '{} '.format(obj.num)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
256 if userTypeNames[obj.userType] != 'unknown':
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
257 objDescription += userTypeNames[obj.userType][0].upper()
429
2be846d36dec reverted to stable OpenCV release 2.4.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 416
diff changeset
258 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
259 if not saveAllImages:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
260 cvImshow('frame', img, rescale)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
261 key = cv2.waitKey()
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parents: 478
diff changeset
262 if saveAllImages or saveKey(key):
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parents: 478
diff changeset
263 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
264 frameNum += nFramesStep
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 474
diff changeset
265 if nFramesStep > 1:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 474
diff changeset
266 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
267 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
268 else:
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
269 print 'Cannot load file ' + videoFilename
402
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
270
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
271 def computeHomographyFromPDTV(cameraFilename, method=0, ransacReprojThreshold=3.0):
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parents: 398
diff changeset
272 '''Returns the homography matrix at ground level from PDTV format
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parents: 398
diff changeset
273 https://bitbucket.org/hakanardo/pdtv'''
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parents: 398
diff changeset
274 import pdtv
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diff changeset
275 from numpy import array
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diff changeset
276 camera = pdtv.load(cameraFilename)
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parents: 398
diff changeset
277 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
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diff changeset
278 dstPoints = []
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parents: 398
diff changeset
279 for srcPoint in srcPoints:
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parents: 398
diff changeset
280 projected = camera.image_to_world(tuple(srcPoint))
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diff changeset
281 dstPoints.append([projected[0], projected[1]])
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parents: 398
diff changeset
282 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold)
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parents: 398
diff changeset
283 return H
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parents: 398
diff changeset
284
474
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diff changeset
285 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
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parents: 435
diff changeset
286 '''Returns the coordinates of a point in undistorted image
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
287 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
288 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
289 map1(x,y) = originalx, originaly'''
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
290 from numpy import abs, logical_and, unravel_index, dot, sum
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
291 from matplotlib.mlab import find
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
292 distx = abs(map1-x)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
293 disty = abs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
294 indices = logical_and(distx<maxDistance, disty<maxDistance)
468
5304299e53a5 added coordinate undistortion function
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parents: 435
diff changeset
295 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
296 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
297 yWeights = 1-disty[indices]
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parents: 435
diff changeset
298 return dot(xWeights, closeCoordinates[1])/sum(xWeights), dot(yWeights, closeCoordinates[0])/sum(yWeights)
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parents: 435
diff changeset
299
474
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parents: 473
diff changeset
300 def undistortTrajectoryFromCVMapping(map1, map2, t):
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parents: 473
diff changeset
301 '''test 'perfect' inversion'''
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parents: 473
diff changeset
302 from moving import Trajectory
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
303 from numpy import isnan
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diff changeset
304 undistortedTrajectory = Trajectory()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
305 for i,p in enumerate(t):
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parents: 473
diff changeset
306 res = undistortedCoordinates(map1, map2, p.x,p.y)
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parents: 473
diff changeset
307 if not isnan(res).any():
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parents: 473
diff changeset
308 undistortedTrajectory.addPositionXY(res[0], res[1])
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parents: 473
diff changeset
309 else:
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parents: 473
diff changeset
310 print i,p,res
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parents: 473
diff changeset
311 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
312
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
313 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
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parents: 468
diff changeset
314 'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap'
a50c026fdf14 functions to compute inverse mapping
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parents: 468
diff changeset
315 from numpy import ones, isnan
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
316 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
317 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
318 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
319 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
320 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
321 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
322 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
323 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
324 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
325
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
326 def printCvMat(cvmat, out = stdout):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
327 '''Prints the cvmat to out'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
328 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
329 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
330 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
331 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
332 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
333
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
334 def projectArray(homography, points):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
335 '''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
336 (format: array 2xN points)'''
315
82b9be447608 bugfix for dot import
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 305
diff changeset
337 from numpy.core import dot
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
338 from numpy.core.multiarray import array
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
339 from numpy.lib.function_base import append
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
340
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
341 if points.shape[0] != 2:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
342 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
343
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
344 if (homography!=None) and homography.size>0:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
345 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
346 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
347 return prod[0:2]/prod[2]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
348 else:
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
349 return p
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
350
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
351 def project(homography, p):
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 315
diff changeset
352 '''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
353 through homography'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
354 from numpy import array
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
355 return projectArray(homography, array([[p[0]],[p[1]]]))
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
356
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
357 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code
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parents:
diff changeset
358 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
359 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
360 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
361 from numpy.core.multiarray import array
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
362 return projectArray(homography, array(trajectory))
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
363
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
364 def invertHomography(homography):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
365 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
366 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
367 from numpy.linalg.linalg import inv
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
368 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
369 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
370 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
371
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
372 def undistortTrajectory(invMap1, invMap2, positions):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
373 from numpy import floor, ceil
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
374 floorPositions = floor(positions)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
375 #ceilPositions = ceil(positions)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
376 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
377 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
378 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
379 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>
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diff changeset
380 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
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381 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
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382 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
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383 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
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384 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
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385 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
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parents: 473
diff changeset
386 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
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parents: 473
diff changeset
387 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
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388 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
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389 undistortedTrajectory[0].append(x)
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diff changeset
390 undistortedTrajectory[1].append(y)
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diff changeset
391 return undistortedTrajectory
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392
491
343cfd185ca6 minor changes and reaarrangements
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parents: 482
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393 def projectGInputPoints(homography, points):
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394 from numpy import array
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diff changeset
395 return projectTrajectory(homography, array(points+[points[0]]).T)
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parents: 482
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396
365
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diff changeset
397 if opencvAvailable:
154
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parents: 152
diff changeset
398 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)):
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parents: 152
diff changeset
399 '''Computes the translation of img2 with respect to img1
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400 (loaded using OpenCV as numpy arrays)
112
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diff changeset
401 img1Points are used to compute the translation
100
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parents: 99
diff changeset
402
154
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403 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
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parents: 152
diff changeset
404 from numpy.core.multiarray import array
112
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diff changeset
405 from numpy.lib.function_base import median
154
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diff changeset
406 from numpy.core.fromnumeric import sum
100
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parents: 99
diff changeset
407
154
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diff changeset
408 nextPoints = array([])
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parents: 152
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409 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria)
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410 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err
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parents: 152
diff changeset
411 delta = []
112
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diff changeset
412 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
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parents: 102
diff changeset
413 if status[k] == 1:
154
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parents: 152
diff changeset
414 dp = p2-p1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
415 d = sum(dp**2)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
416 if d < maxTranslation2:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
417 delta.append(dp)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
418 if len(delta) >= minNMatches:
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parents: 152
diff changeset
419 return median(delta, axis=0)
112
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parents: 102
diff changeset
420 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
421 print(dp)
112
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diff changeset
422 return None
365
22ddb8f85495 added function to create HOG training set
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parents: 346
diff changeset
423
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
424 if skimageAvailable:
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
425 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
365
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parents: 346
diff changeset
426 from skimage.feature import hog
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diff changeset
427 from skimage import color, transform
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
428
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
429 bwImg = color.rgb2gray(image)
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parents: 410
diff changeset
430 inputImg = transform.resize(bwImg, rescaleSize)
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parents: 410
diff changeset
431 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
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parents: 410
diff changeset
432 if visualize:
31604ef1cad4 added hog functions and the display of road user types if known
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parents: 410
diff changeset
433 from matplotlib.pyplot import imshow, figure, subplot
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parents: 410
diff changeset
434 hogViz = features[1]
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parents: 410
diff changeset
435 features = features[0]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
436 figure()
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
437 subplot(1,2,1)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
438 imshow(img)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
439 subplot(1,2,2)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
440 imshow(hogViz)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
441 return features
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
442
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
443 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
444 from os import listdir
365
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parents: 346
diff changeset
445 from numpy import array, float32
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
446 from matplotlib.pyplot import imread
365
22ddb8f85495 added function to create HOG training set
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parents: 346
diff changeset
447
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
448 inputData = []
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
449 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
450 img = imread(imageDirectory+filename)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
451 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
365
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parents: 346
diff changeset
452 inputData.append(features)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
453
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
454 nImages = len(inputData)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
455 return array(inputData, dtype = float32), array([classLabel]*nImages, dtype = float32)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
456
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
457