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annotate scripts/display-trajectories.py @ 853:95e7622b11be

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added option to limit the number of loaded objects
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 22 Sep 2016 16:49:43 -0400
parents 3058e00887bc
children 753a081989e2
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1 #! /usr/bin/env python
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3 import sys, argparse
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5 import storage, cvutils, utils
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6
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7 from numpy.linalg.linalg import inv
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8 from numpy import loadtxt
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10 parser = argparse.ArgumentParser(description='The program displays feature or object trajectories overlaid over the video frames.', epilog = 'Either the configuration filename or the other parameters (at least video and database filenames) need to be provided.')
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11 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
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12 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file')
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13 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file')
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14 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to display', choices = ['feature', 'object'], default = 'feature')
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15 parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the image to world homography file')
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16 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
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17 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
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18 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
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19 parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
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20 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
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21 parser.add_argument('-r', dest = 'rescale', help = 'rescaling factor for the displayed image', default = 1., type = float)
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22 parser.add_argument('-s', dest = 'nFramesStep', help = 'number of frames between each display', default = 1, type = int)
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23 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to display', type = int)
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24 parser.add_argument('--save-images', dest = 'saveAllImages', help = 'save all images', action = 'store_true')
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25 parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int)
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27 args = parser.parse_args()
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29 if args.configFilename is not None: # consider there is a configuration file
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30 params = storage.ProcessParameters(args.configFilename)
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31 videoFilename = params.videoFilename
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32 databaseFilename = params.databaseFilename
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33 if params.homography is not None:
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34 homography = inv(params.homography)
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35 else:
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36 homography = None
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37 intrinsicCameraMatrix = params.intrinsicCameraMatrix
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38 distortionCoefficients = params.distortionCoefficients
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39 undistortedImageMultiplication = params.undistortedImageMultiplication
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40 undistort = params.undistort
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41 firstFrameNum = params.firstFrameNum
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42 else:
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43 homography = None
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44 undistort = False
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45 intrinsicCameraMatrix = None
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46 distortionCoefficients = []
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47 undistortedImageMultiplication = None
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48 firstFrameNum = 0
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50 if args.configFilename is None and args.videoFilename is not None:
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51 videoFilename = args.videoFilename
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52 if args.configFilename is None and args.databaseFilename is not None:
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53 databaseFilename = args.databaseFilename
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54 if args.configFilename is None and args.homographyFilename is not None:
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55 homography = inv(loadtxt(args.homographyFilename))
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56 if args.configFilename is None and args.intrinsicCameraMatrixFilename is not None:
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57 intrinsicCameraMatrix = loadtxt(args.intrinsicCameraMatrixFilename)
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58 if args.configFilename is None and args.distortionCoefficients is not None:
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59 distortionCoefficients = args.distortionCoefficients
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60 if args.configFilename is None and args.undistortedImageMultiplication is not None:
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61 undistortedImageMultiplication = args.undistortedImageMultiplication
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63 if args.firstFrameNum is not None:
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64 firstFrameNum = args.firstFrameNum
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65 if args.nObjects is not None:
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66 nObjects = args.nObjects
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67 else:
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68 nObjects = None
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70 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, args.trajectoryType, nObjects)
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71 boundingBoxes = storage.loadBoundingBoxTableForDisplay(databaseFilename)
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72 cvutils.displayTrajectories(videoFilename, objects, boundingBoxes, homography, firstFrameNum, args.lastFrameNum, rescale = args.rescale, nFramesStep = args.nFramesStep, saveAllImages = args.saveAllImages, undistort = (undistort or args.undistort), intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)