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annotate python/cvutils.py @ 924:a71455bd8367

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work in progress on undistortion acceleration
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 07 Jul 2017 18:01:45 -0400
parents 8f60ecfc2f06
children dbd81710d515
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import utils, moving
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5
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6 try:
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7 import cv2
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8 opencvAvailable = True
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9 except ImportError:
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10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
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11 opencvAvailable = False
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12 try:
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13 import skimage
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14 skimageAvailable = True
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15 except ImportError:
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16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
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17 skimageAvailable = False
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18
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19 from sys import stdout, maxint
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20 from os import listdir
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21 from copy import deepcopy
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22 from math import floor, log10, ceil
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23
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24 from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil
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25 from matplotlib.mlab import find
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26 from matplotlib.pyplot import imread, imsave
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29
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30 #import aggdraw # agg on top of PIL (antialiased drawing)
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32
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33 cvRed = {'default': (0,0,255),
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34 'colorblind': (0,114,178)}
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35 cvGreen = {'default': (0,255,0),
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36 'colorblind': (0,158,115)}
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37 cvBlue = {'default': (255,0,0),
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38 'colorblind': (213,94,0)}
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39 cvCyan = {'default': (255, 255, 0),
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40 'colorblind': (240,228,66)}
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41 cvYellow = {'default': (0, 255, 255),
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42 'colorblind': (86,180,233)}
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43 cvMagenta = {'default': (255, 0, 255),
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44 'colorblind': (204,121,167)}
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45 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
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46 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
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48 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
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49 cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']}
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50
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51 def quitKey(key):
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52 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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53
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54 def saveKey(key):
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55 return chr(key&255) == 's'
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56
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57 def int2FOURCC(x):
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58 fourcc = ''
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59 for i in xrange(4):
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60 fourcc += unichr((x >> 8*i)&255)
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61 return fourcc
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62
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63 def rgb2gray(rgb):
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64 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
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66 def matlab2PointCorrespondences(filename):
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67 '''Loads and converts the point correspondences saved
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68 by the matlab camera calibration tool'''
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69 points = loadtxt(filename, delimiter=',')
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70 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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72 def loadPointCorrespondences(filename):
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73 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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74 points = loadtxt(filename, dtype=float32)
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75 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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76
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77 def cvMatToArray(cvmat):
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78 '''Converts an OpenCV CvMat to numpy array.'''
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79 print('Deprecated, use new interface')
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80 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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81 for i in xrange(cvmat.rows):
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82 for j in xrange(cvmat.cols):
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83 a[i,j] = cvmat[i,j]
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84 return a
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85
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86 def createWhiteImage(height, width, filename):
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87 img = ones((height, width, 3), uint8)*255
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88 imsave(filename, img)
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89
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90 if opencvAvailable:
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91 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
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92 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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93 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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94 return H
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95
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96 def arrayToCvMat(a, t = cv2.CV_64FC1):
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97 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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98 print('Deprecated, use new interface')
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99 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112
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100 for i in range(cvmat.rows):
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101 for j in range(cvmat.cols):
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102 cvmat[i,j] = a[i,j]
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103 return cvmat
99
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104
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105 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
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106 if lastCoordinate is None:
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107 last = positions.length()-1
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108 elif lastCoordinate >=0:
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109 last = min(positions.length()-1, lastCoordinate)
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110 for i in range(0, last):
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111 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
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112
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113 def cvImshow(windowName, img, rescale = 1.0):
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114 'Rescales the image (in particular if too large)'
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115 from cv2 import resize
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116 if rescale != 1.:
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117 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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118 resizedImg = resize(img, size)
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119 cv2.imshow(windowName, resizedImg)
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120 else:
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121 cv2.imshow(windowName, img)
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122
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123 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
124 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
924
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
125 #newCameraMatrix = deepcopy(intrinsicCameraMatrix)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
126 #newCameraMatrix[0,2] = newImgSize[0]/2.
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parents: 904
diff changeset
127 #newCameraMatrix[1,2] = newImgSize[1]/2.
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parents: 904
diff changeset
128 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
a71455bd8367 work in progress on undistortion acceleration
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parents: 904
diff changeset
129 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1)
510
b0dac840c24f compute homography works with undistortion
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parents: 509
diff changeset
130
868
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
131 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
820
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
132 '''Plays the video(s)'''
868
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parents: 864
diff changeset
133 if colorBlind:
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parents: 864
diff changeset
134 colorType = 'colorblind'
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parents: 864
diff changeset
135 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
136 colorType = 'default'
821
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
137 if len(filenames) == 0:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
138 print('Empty filename list')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
139 return
820
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
140 if windowNames is None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
141 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))]
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
142 wait = 5
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
143 if rescale == 1.:
820
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
144 for windowName in windowNames:
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parents: 807
diff changeset
145 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
146 if frameRate > 0:
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
147 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
148 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
149 wait = 0
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
150 captures = [cv2.VideoCapture(fn) for fn in filenames]
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parents: 807
diff changeset
151 if array([cap.isOpened() for cap in captures]).all():
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
152 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
153 ret = True
821
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
154 nFramesShown = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
155 if firstFrameNums is not None:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
156 for i in xrange(len(captures)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
157 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i])
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
158 while ret and not quitKey(key):
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
159 rets = []
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
160 images = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
161 for cap in captures:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
162 ret, img = cap.read()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
163 rets.append(ret)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
164 images.append(img)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
165 if array(rets).all():
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
166 if printFrames:
821
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
167 print('frame shown {0}'.format(nFramesShown))
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
168 for i in xrange(len(filenames)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
169 if text is not None:
868
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
170 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType])
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
171 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
172 key = cv2.waitKey(wait)
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
173 if saveKey(key):
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
174 cv2.imwrite('image-{}.png'.format(frameNum), img)
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
175 nFramesShown += step
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
176 if step > 1:
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
177 for i in xrange(len(captures)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
178 captures.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
346
5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
179 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
180 else:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
181 print('Video captures for {} failed'.format(filenames))
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
182
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
183 def infoVideo(filename):
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
184 '''Provides all available info on video '''
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
185 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
186 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
187 cv2.cv.CV_CAP_PROP_FPS: "fps",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
188 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
189 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
190 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
191 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification",
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
192 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
193 capture = cv2.VideoCapture(filename)
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
194 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
195 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
196 #cv2.cv.CV_CAP_PROP_CONTRAST
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
197 #cv2.cv.CV_CAP_PROP_CONVERT_RGB
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
198 #cv2.cv.CV_CAP_PROP_EXPOSURE
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
199 cv2.cv.CV_CAP_PROP_FORMAT,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
200 cv2.cv.CV_CAP_PROP_FOURCC,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
201 cv2.cv.CV_CAP_PROP_FPS,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
202 cv2.cv.CV_CAP_PROP_FRAME_COUNT,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
203 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
204 cv2.cv.CV_CAP_PROP_FRAME_WIDTH,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
205 #cv2.cv.CV_CAP_PROP_GAIN,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
206 #cv2.cv.CV_CAP_PROP_HUE
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
207 #cv2.cv.CV_CAP_PROP_MODE
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
208 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
209 #cv2.cv.CV_CAP_PROP_POS_FRAMES
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
210 #cv2.cv.CV_CAP_PROP_POS_MSEC
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
211 #cv2.cv.CV_CAP_PROP_RECTIFICATION,
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
212 #cv2.cv.CV_CAP_PROP_SATURATION
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
213 ]:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
214 prop = capture.get(cvprop)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
215 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0:
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
216 prop = int2FOURCC(int(prop))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
217 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
218 else:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
219 print('Video capture for {} failed'.format(filename))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
220
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
221 def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'):
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
222 '''Returns nFrames images from the video sequence'''
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
223 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
224 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
225 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
226 rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
227 if rawCount < 0:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
228 rawCount = lastFrameNum+1
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
229 nDigits = int(floor(log10(rawCount)))+1
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
230 ret = False
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
231 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
232 frameNum = firstFrameNum
858
2faabcbde2c4 minor improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 821
diff changeset
233 while frameNum<lastFrameNum and frameNum<rawCount:
171
8e7b354666ec corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 160
diff changeset
234 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
235 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
236 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
237 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
238 i += 1
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
239 if img is not None and img.size>0:
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
240 if saveImage:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
241 frameNumStr = format(frameNum, '0{}d'.format(nDigits))
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
242 cv2.imwrite(outputPrefix+frameNumStr+'.png', img)
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
243 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
244 images.append(img)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
245 frameNum +=step
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
246 if step > 1:
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
247 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
248 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
249 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
250 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
251 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
252
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
253 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
254 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
255 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
256 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
257 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
258 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
259 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
260 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
261 return None
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
262
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
263 def imageBoxSize(obj, frameNum, homography, width, height, px = 0.2, py = 0.2):
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
264 'Computes the bounding box size of object at frameNum'
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
265 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
266 y = []
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
267 if obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
268 for f in obj.getFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
269 if f.existsAtInstant(frameNum):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
270 projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
271 x.append(projectedPosition.x)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
272 y.append(projectedPosition.y)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
273 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
274 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
275 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
276 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
277 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
278 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
279 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
280 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
281 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
282 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
283 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
284 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
285
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
286 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
287 'Computes the bounding box of object at frameNum'
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
288 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height, px, py)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
289 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
290 return img[yCropMin : yCropMax, xCropMin : xCropMax]
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
291 else:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
292 return None
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
293
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
294 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, nZerosFilenameArg = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}, colorBlind = False):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
295 '''Displays the objects overlaid frame by frame over the video '''
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
296 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
297 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
298 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
299 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
300
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
301 capture = cv2.VideoCapture(videoFilename)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
302 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
303 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
304
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
305 windowName = 'frame'
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
306 if rescale == 1.:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
307 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
308
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
309 if undistort: # setup undistortion
510
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
310 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
311 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
312 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
313 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
314 frameNum = firstFrameNum
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
315 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
316 if lastFrameNumArg is None:
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
317 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
318 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
319 lastFrameNum = lastFrameNumArg
864
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
320 if nZerosFilenameArg is None:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
321 nZerosFilename = int(ceil(log10(lastFrameNum)))
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
322 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 858
diff changeset
323 nZerosFilename = nZerosFilenameArg
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
324 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
325 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
326 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
327 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
328 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
329 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
330 print('frame {0}'.format(frameNum))
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
331 # plot objects
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
332 for obj in objects:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
333 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
334 if not hasattr(obj, 'projectedPositions'):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
335 if homography is not None:
218
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
336 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
337 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
338 obj.projectedPositions = obj.positions
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
339 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
340 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
341 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
342 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
343 objDescription = '{} '.format(obj.num)
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
344 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
345 objDescription += moving.userTypeNames[obj.userType][0].upper()
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
346 if len(annotations) > 0: # if we loaded annotations, but there is no match
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
347 if frameNum not in toMatches[obj.getNum()]:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
348 objDescription += " FA"
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
349 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
903
81ee5aaf213d changed workflow of display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 897
diff changeset
350 if obj.getLastInstant() == frameNum:
81ee5aaf213d changed workflow of display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 897
diff changeset
351 objects.remove(obj)
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
352 # plot object bounding boxes
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
353 if frameNum in boundingBoxes.keys():
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
354 for rect in boundingBoxes[frameNum]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
355 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()])
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
356 # plot ground truth
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
357 if len(annotations) > 0:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
358 for gt in annotations:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
359 if gt.existsAtInstant(frameNum):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
360 if frameNum in gtMatches[gt.getNum()]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
361 color = cvColors[colorType][gtMatches[gt.getNum()][frameNum]] # same color as object
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
362 else:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
363 color = cvRed[colorType]
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
364 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, color)
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
365 cv2.rectangle(img, gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), gt.bottomRightPositions[frameNum-gt.getFirstInstant()].asint().astuple(), color)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
366 # saving images and going to next
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
367 if not saveAllImages:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
368 cvImshow(windowName, img, rescale)
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
369 key = cv2.waitKey()
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
370 if saveAllImages or saveKey(key):
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
371 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
372 frameNum += nFramesStep
d337bffd7283 Display of points in compute homography and step option to replay videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 474
diff changeset
373 if nFramesStep > 1:
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
374 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
375 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
376 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
377 print('Cannot load file ' + videoFilename)
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
378
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
379 def computeHomographyFromPDTV(camera):
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
380 '''Returns the homography matrix at ground level from PDTV camera
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
381 https://bitbucket.org/hakanardo/pdtv'''
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
382 # camera = pdtv.load(cameraFilename)
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
383 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
384 dstPoints = []
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
385 for srcPoint in srcPoints:
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
386 projected = camera.image_to_world(tuple(srcPoint))
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
387 dstPoints.append([projected[0], projected[1]])
638
852f5de42d01 added functionality to read Aliaksei Tsai camera model data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
388 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method = 0) # No need for different methods for finding homography
402
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
389 return H
f29204e68aab function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
390
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
391 def getIntrinsicCameraMatrix(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
392 return array([[cameraData['f']*cameraData['Sx']/cameraData['dx'], 0, cameraData['Cx']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
393 [0, cameraData['f']/cameraData['dy'], cameraData['Cy']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
394 [0, 0, 1.]])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
395
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
396 def getDistortionCoefficients(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
397 return array([cameraData['k']]+4*[0])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
398
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
399 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
400 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
401 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
402 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
403 map1(x,y) = originalx, originaly'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
404 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
405 disty = npabs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
406 indices = logical_and(distx<maxDistance, disty<maxDistance)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
407 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
408 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
409 yWeights = 1-disty[indices]
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
410 return dot(xWeights, closeCoordinates[1])/npsum(xWeights), dot(yWeights, closeCoordinates[0])/npsum(yWeights)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
411
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
412 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
413 '''test 'perfect' inversion'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
414 undistortedTrajectory = moving.Trajectory()
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
415 for i,p in enumerate(t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
416 res = undistortedCoordinates(map1, map2, p.x,p.y)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
417 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
418 undistortedTrajectory.addPositionXY(res[0], res[1])
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
419 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
420 print('{} {} {}'.format(i,p,res))
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
421 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
422
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
423 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
424 'Computes inverse mapping from maps provided by cv2.initUndistortRectifyMap'
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
425 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
426 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
427 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
428 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
429 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
430 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
431 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
432 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
433 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
434
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
435 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
436 ''' Camera calibration searches through all the images (jpg or png) located
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
437 in _path_ for matches to a checkerboard pattern of size checkboardSize.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
438 These images should all be of the same camera with the same resolution.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
439
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
440 For best results, use an asymetric board and ensure that the image has
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
441 very high contrast, including the background.
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
442
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
443 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
444
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
445 The code below is based off of:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
446 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
447 Modified by Paul St-Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
448 '''
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
449 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
450
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
451 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
452 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
453
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
454 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
455 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
456 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
457
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
458 # Arrays to store object points and image points from all the images.
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
459 objpoints = [] # 3d point in real world space
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
460 imgpoints = [] # 2d points in image plane.
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
461
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
462 ## Loop throuhg all images in _path_
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
463 images = glob.glob(os.path.join(path,'*.[jJ][pP][gG]'))+glob.glob(os.path.join(path,'*.[jJ][pP][eE][gG]'))+glob.glob(os.path.join(path,'*.[pP][nN][gG]'))
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
464 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
465 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
466 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
467
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
468 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
469 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
470
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
471 # If found, add object points, image points (after refining them)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
472 if ret:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
473 print('Found pattern in '+fname)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
474
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
475 if secondPassSearch:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
476 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
477
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
478 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
479 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
480
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
481 # Draw and display the corners
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
482 if display:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
483 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
484 if img is not None:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
485 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
486 cv2.waitKey(0)
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
487 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
488 print('Pattern not found in '+fname)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
489 ## Close up image loading and calibrate
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
490 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
491 if len(objpoints) == 0 or len(imgpoints) == 0:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
492 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
493 try:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
494 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
495 except NameError:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
496 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
497 savetxt('intrinsic-camera.txt', camera_matrix)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
498 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
499
545
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
500 def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR):
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
501 '''Undistorts the image passed in argument'''
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
502 width = img.shape[1]
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
503 height = img.shape[0]
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
504 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
505 return cv2.remap(img, map1, map2, interpolation=interpolation)
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
506
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
507
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
508 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
509 '''Prints the cvmat to out'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
510 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
511 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
512 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
513 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
514 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
515
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
516 def projectArray(homography, points):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
517 '''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
518 (format: array 2xN points)'''
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
519 if points.shape[0] != 2:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
520 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
521
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
522 if (homography is not None) and homography.size>0:
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
523 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
524 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
525 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
526 return prod[0:2]/prod[2]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
527 else:
547
97c5fef5b2d6 corrected bugs
MohamedGomaa
parents: 538
diff changeset
528 return points
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
529
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
530 def project(homography, p):
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 315
diff changeset
531 '''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
532 through homography'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
533 return projectArray(homography, array([[p[0]],[p[1]]]))
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
534
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
535 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
536 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
537 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
538 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
539 return projectArray(homography, array(trajectory))
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
540
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
541 def invertHomography(homography):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
542 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
543 Unnecessary for reprojection over camera image'''
673
5505f9dbb28e corrected import bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
544 from numpy.linalg import inv
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
545 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
546 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
547 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
548
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
549 def undistortTrajectory(invMap1, invMap2, positions):
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
550 floorPositions = npfloor(positions)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
551 #ceilPositions = npceil(positions)
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
552 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
553 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
554 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
555 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
556 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
557 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
558 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
559 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
560 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
561 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
562 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
563 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
564 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
565 undistortedTrajectory[0].append(x)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
566 undistortedTrajectory[1].append(y)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
567 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
568
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
569 def projectGInputPoints(homography, points):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
570 return projectTrajectory(homography, array(points+[points[0]]).T)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
571
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
572 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
573 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)):
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
574 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
575 (loaded using OpenCV as numpy arrays)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
576 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
577
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
578 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
579
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
580 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
581 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
582 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
583 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
584 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
585 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
586 dp = p2-p1
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
587 d = npsum(dp**2)
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
588 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
589 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
590 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
591 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
592 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
593 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
594 return None
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
595
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
596 if skimageAvailable:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
597 from skimage.feature import hog
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
598 from skimage import color, transform
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
599
893
ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 868
diff changeset
600 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8,8), cellsPerBlock=(2,2), blockNorm='L1', visualize=False, normalize=False):
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
601 bwImg = color.rgb2gray(image)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
602 inputImg = transform.resize(bwImg, rescaleSize)
893
ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 868
diff changeset
603 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
604 if visualize:
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
605 from matplotlib.pyplot import imshow, figure, subplot
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
606 hogViz = features[1]
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
607 features = features[0]
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
608 figure()
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
609 subplot(1,2,1)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
610 imshow(inputImg)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
611 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
612 imshow(hogViz)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
613 return float32(features)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
614
893
ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 868
diff changeset
615 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations=9, pixelsPerCell=(8,8), blockNorm='L1', cellsPerBlock=(2, 2), visualize=False, normalize=False):
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
616 inputData = []
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
617 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
618 img = imread(imageDirectory+filename)
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ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 868
diff changeset
619 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize)
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
620 inputData.append(features)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
621
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
622 nImages = len(inputData)
788
5b970a5bc233 updated classifying code to OpenCV 3.x (bug in function to load classification models)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 774
diff changeset
623 return array(inputData, dtype = float32), array([classLabel]*nImages)
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22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
624
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
625
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
626 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
627 # running tests
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
628 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
629
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
630 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
631 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
632 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
633 suite = doctest.DocFileSuite('tests/cvutils.txt')
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
634 #suite = doctest.DocTestSuite()
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
635 unittest.TextTestRunner().run(suite)
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
636 #doctest.testmod()
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
637 #doctest.testfile("example.txt")