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annotate python/cvutils.py @ 302:9d88a4d97473

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corrected bug in compute-homography
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 18 Mar 2013 23:37:45 -0400
parents aba9711b3149
children 514f6b98cd8c
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import Image, ImageDraw # PIL
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5 try:
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6 import cv2
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7 opencvExists = True
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8 except ImportError:
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9 print('OpenCV library could not be loaded')
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10 opencvExists = False
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11 from sys import stdout
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13 import utils
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15 #import aggdraw # agg on top of PIL (antialiased drawing)
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16 #import utils
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17
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18 __metaclass__ = type
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19
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20 cvRed = (0,0,255)
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21 cvGreen = (0,255,0)
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22 cvBlue = (255,0,0)
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23 cvColors = utils.PlottingPropertyValues([cvRed,
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24 cvGreen,
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25 cvBlue])
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27 cvKeyNumbers = {'a':1048673,
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28 'n': 1048686,
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29 'y': 1048697}
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31 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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32 '''Draws lines over the image '''
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33
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34 img = Image.open(filename)
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35
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36 draw = ImageDraw.Draw(img)
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37 #draw = aggdraw.Draw(img)
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38 #pen = aggdraw.Pen("red", width)
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39 for p1, p2 in zip(origins, destinations):
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40 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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41 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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42 del draw
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43
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44 #out = utils.openCheck(resultFilename)
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45 img.save(resultFilename)
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46
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47 def matlab2PointCorrespondences(filename):
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48 '''Loads and converts the point correspondences saved
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49 by the matlab camera calibration tool'''
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50 from numpy.lib.io import loadtxt, savetxt
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51 from numpy.lib.function_base import append
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52 points = loadtxt(filename, delimiter=',')
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53 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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55 def loadPointCorrespondences(filename):
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56 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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57 from numpy.lib.npyio import loadtxt
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58 from numpy import float32
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59 points = loadtxt(filename, dtype=float32)
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60 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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62 def cvMatToArray(cvmat):
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63 '''Converts an OpenCV CvMat to numpy array.'''
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64 from numpy.core.multiarray import zeros
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65 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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66 for i in xrange(cvmat.rows):
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67 for j in xrange(cvmat.cols):
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68 a[i,j] = cvmat[i,j]
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69 return a
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71 if opencvExists:
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72 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0):
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73 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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74 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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75 return H
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76
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77 def arrayToCvMat(a, t = cv2.cv.CV_64FC1):
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78 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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79 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
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80 for i in range(cvmat.rows):
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81 for j in range(cvmat.cols):
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82 cvmat[i,j] = a[i,j]
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83 return cvmat
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84
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85 def draw(img, positions, color, lastCoordinate = None):
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86 last = lastCoordinate+1
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87 if lastCoordinate != None and lastCoordinate >=0:
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88 last = min(positions.length()-1, lastCoordinate)
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89 for i in range(0, last-1):
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90 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color)
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91
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92 def playVideo(filename, firstFrameNum = 0):
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93 '''Plays the video'''
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94 capture = cv2.VideoCapture(filename)
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95 if capture.isOpened():
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96 key = -1
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97 ret = True
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98 frameNum = firstFrameNum
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99 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
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100 while ret and key!= 113: # 'q'
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101 ret, img = capture.read()
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102 if ret:
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103 print('frame {0}'.format(frameNum))
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104 frameNum+=1
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105 cv2.imshow('frame', img)
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106 key = cv2.waitKey(5)
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107
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108 def getImagesFromVideo(filename, nImages = 1, saveImage = False):
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109 '''Returns nImages images from the video sequence'''
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110 images = []
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111 capture = cv2.VideoCapture(filename)
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112 if capture.isOpened():
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113 ret = False
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114 numImg = 0
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115 while numImg<nImages:
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116 ret, img = capture.read()
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117 i = 0
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118 while not ret and i<10:
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119 ret, img = capture.read()
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120 i += 1
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121 if img.size>0:
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122 numImg +=1
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123 if saveImage:
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124 cv2.imwrite('image{0:04d}.png'.format(numImg), img)
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125 else:
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126 images.append(img)
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127 return images
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128
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129 def displayTrajectories(videoFilename, objects, homography = None, firstFrameNum = 0, lastFrameNumArg = None):
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130 '''Displays the objects overlaid frame by frame over the video '''
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131 capture = cv2.VideoCapture(videoFilename)
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132 if capture.isOpened():
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133 key = -1
227
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134 ret = True
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135 frameNum = firstFrameNum
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136 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
248
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137 if not lastFrameNumArg:
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138 from sys import maxint
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139 lastFrameNum = maxint
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140 else:
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141 lastFrameNum = lastFrameNumArg
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142 while ret and key!= 113 and frameNum < lastFrameNum: # 'q'
203
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143 ret, img = capture.read()
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144 if ret:
227
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145 print('frame {0}'.format(frameNum))
203
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146 for obj in objects:
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147 if obj.existsAtInstant(frameNum):
236
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148 if not hasattr(obj, 'projectedPositions'):
218
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parents: 216
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149 if homography != None:
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150 obj.projectedPositions = obj.positions.project(homography)
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parents: 216
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151 else:
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152 obj.projectedPositions = obj.positions
203
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153 draw(img, obj.projectedPositions, cvRed, frameNum-obj.getFirstInstant())
223
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154 cv2.putText(img, '{0}'.format(obj.num), obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
203
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155 cv2.imshow('frame', img)
266
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156 key = cv2.waitKey()
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157 if key == 115:
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158 cv2.imwrite('image.png', img)
203
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159 frameNum += 1
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160
99
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161 def printCvMat(cvmat, out = stdout):
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162 '''Prints the cvmat to out'''
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parents: 98
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163 for i in xrange(cvmat.rows):
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164 for j in xrange(cvmat.cols):
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165 out.write('{0} '.format(cvmat[i,j]))
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166 out.write('\n')
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167
98
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168 def projectArray(homography, points):
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169 '''Returns the coordinates of the projected points (format 2xN points)
28
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parents:
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170 through homography'''
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parents:
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171 from numpy.core._dotblas import dot
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parents:
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172 from numpy.core.multiarray import array
98
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parents: 63
diff changeset
173 from numpy.lib.function_base import append
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174
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diff changeset
175 if points.shape[0] != 2:
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diff changeset
176 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
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parents: 63
diff changeset
177
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parents: 63
diff changeset
178 if (homography!=None) and homography.size>0:
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diff changeset
179 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
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parents: 63
diff changeset
180 prod = dot(homography, augmentedPoints)
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diff changeset
181 return prod[0:2]/prod[2]
28
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parents:
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182 else:
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parents:
diff changeset
183 return p
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parents:
diff changeset
184
98
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diff changeset
185 def project(homography, p):
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parents: 63
diff changeset
186 '''Returns the coordinates of the projection of the point p
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parents: 63
diff changeset
187 through homography'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
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parents: 236
diff changeset
188 from numpy import array
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parents: 236
diff changeset
189 return projectArray(homography, array([[p[0]],[p[1]]]))
98
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parents: 63
diff changeset
190
28
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parents:
diff changeset
191 def projectTrajectory(homography, trajectory):
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parents:
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192 '''Projects a series of points in the format
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parents:
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193 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
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parents: 63
diff changeset
194 [y1, y2, ...]]'''
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parents: 63
diff changeset
195 from numpy.core.multiarray import array
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parents: 63
diff changeset
196 return projectArray(homography, array(trajectory))
28
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parents:
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197
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
198 def invertHomography(homography):
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents: 44
diff changeset
199 'Returns an inverted homography'
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parents: 44
diff changeset
200 from numpy.linalg.linalg import inv
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diff changeset
201 invH = inv(homography)
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parents: 44
diff changeset
202 invH /= invH[2,2]
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parents: 44
diff changeset
203 return invH
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents: 44
diff changeset
204
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
205 if opencvExists:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
206 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
207 '''Computes the translation of img2 with respect to img1
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parents: 152
diff changeset
208 (loaded using OpenCV as numpy arrays)
112
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parents: 102
diff changeset
209 img1Points are used to compute the translation
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
210
154
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parents: 152
diff changeset
211 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
212 from numpy.core.multiarray import array
112
67555e968b5e added tests if OpenCV python libraries are not available
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parents: 102
diff changeset
213 from numpy.lib.function_base import median
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
214 from numpy.core.fromnumeric import sum
100
2a3cafcf5faf added function to compute the translation between two images
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parents: 99
diff changeset
215
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
216 nextPoints = array([])
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
217 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria)
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parents: 152
diff changeset
218 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err
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parents: 152
diff changeset
219 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
220 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
221 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
222 dp = p2-p1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
223 d = sum(dp**2)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
224 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
225 delta.append(dp)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
226 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
227 return median(delta, axis=0)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
228 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
229 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
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parents: 102
diff changeset
230 return None