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annotate python/cvutils.py @ 44:be3ae926e4e8

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added simple intersection description, function to load collision points
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sat, 31 Jul 2010 23:39:17 -0400
parents 9ae709a2e8d0
children 8aed225f71d8
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import Image, ImageDraw # PIL
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5 #import aggdraw # agg on top of PIL (antialiased drawing)
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6 from moving import Point
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7 #import utils
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8
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9 __metaclass__ = type
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10
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11 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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12 '''Draws lines over the image '''
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13
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14 img = Image.open(filename)
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15
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16 draw = ImageDraw.Draw(img)
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17 #draw = aggdraw.Draw(img)
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18 #pen = aggdraw.Pen("red", width)
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19 for p1, p2 in zip(origins, destinations):
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20 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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21 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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22 del draw
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23
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24 #out = utils.openCheck(resultFilename)
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25 img.save(resultFilename)
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26
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27 def project(homography, p):
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28 '''Returns the coordinates of the projection of the point p
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29 through homography'''
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30 from numpy.core._dotblas import dot
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31 from numpy.core.multiarray import array
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32 from numpy.lib.function_base import insert
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33 if (homography!=None) and (len(homography)>0):
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34 pAugmented = insert(array(p.aslist()), [2],[1], axis=0)
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35 tmp = dot(homography, pAugmented)
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36 return Point(tmp[0]/tmp[2], tmp[1]/tmp[2])
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37 else:
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38 return p
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39
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40 def projectTrajectory(homography, trajectory):
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41 '''Projects a series of points in the format
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42 [[x1, x2, ...],
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43 [y1, y2, ...]]
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44
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45 Warning: not optimized, calls project()'''
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46 projected = [[],[]]
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47 for x, y in zip(trajectory[0], trajectory[1]):
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48 p = [x,y]
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49 pp = project(homography, p)
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50 projected[0].append(pp[0])
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51 projected[1].append(pp[1])
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52 return projected
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53
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54 class WorldSpaceData:
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55 '''Simple class for simple intersection outline'''
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56 def __init__(self, dimension, coordX, coordY):
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57 self.dimension = dimension
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58 self.coordX = coordX
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59 self.coordY = coordY
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60
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61 def plot(self, options = 'k'):
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62 from matplotlib.pyplot import plot, axis
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63
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64 minX = min(self.dimension[0])
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65 maxX = max(self.dimension[0])
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66 minY = min(self.dimension[1])
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67 maxY = max(self.dimension[1])
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68
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69 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
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70 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
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71 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
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72 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
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73 axis('equal')