repo/traffic-intelligence: python/cvutils.py annotate

annotate python/cvutils.py @ 981:c3e690c5536e

corrected bug in display trajectories

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Tue, 27 Feb 2018 15:24:57 -0500
parents	184f1dd307f9
children	132d84ce9f0c

rev	line source
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Image/Video utilities'''
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	3
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	4 import utils, moving
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	5
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	6 try:
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	7 import cv2
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	8 opencvAvailable = True
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	9 except ImportError:
501 c81cbd6953fb update to classify speed to remove data at both ends Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	11 opencvAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	12 try:
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	13 import skimage
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	14 skimageAvailable = True
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	15 except ImportError:
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	17 skimageAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	18
978 184f1dd307f9 corrected print and exception statements for Python 3 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 969 diff changeset	19 from sys import stdout
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	20 from os import listdir
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	21 from copy import deepcopy
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	22 from math import floor, log10, ceil
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	23
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	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
930 7db0f2853bfd corrected projection back to image space Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 929 diff changeset	25 from numpy.linalg import inv
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	26 from matplotlib.mlab import find
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	27 from matplotlib.pyplot import imread, imsave
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	28
969 5d788d2e8ffc work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 967 diff changeset	29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	30
981 c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	31 #importaggdraw # agg on top of PIL (antialiased drawing)
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	32
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	33
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	34 cvRed = {'default': (0,0,255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	35 'colorblind': (0,114,178)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	36 cvGreen = {'default': (0,255,0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	37 'colorblind': (0,158,115)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	38 cvBlue = {'default': (255,0,0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	39 'colorblind': (213,94,0)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	40 cvCyan = {'default': (255, 255, 0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	41 'colorblind': (240,228,66)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	42 cvYellow = {'default': (0, 255, 255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	43 'colorblind': (86,180,233)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	44 cvMagenta = {'default': (255, 0, 255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	45 'colorblind': (204,121,167)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	46 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	47 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	48
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	49 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	50 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']}
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	51
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	52 def quitKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	53 return chr(key&255)== 'q' or chr(key&255) == 'Q'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	54
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	55 def saveKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	56 return chr(key&255) == 's'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	57
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	58 def int2FOURCC(x):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	59 fourcc = ''
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	60 for i in xrange(4):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	61 fourcc += unichr((x >> 8*i)&255)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	62 return fourcc
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	63
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	64 def rgb2gray(rgb):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	65 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	66
159 115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	67 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	68 '''Loads and converts the point correspondences saved
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	69 by the matlab camera calibration tool'''
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	70 points = loadtxt(filename, delimiter=',')
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	71 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	72
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	73 def loadPointCorrespondences(filename):
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	74 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	75 points = loadtxt(filename, dtype=float32)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	76 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	77
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	78 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	79 '''Converts an OpenCV CvMat to numpy array.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	80 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]cvmat.width]cvmat.height)
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	82 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	83 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	84 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	85 return a
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	86
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	87 def createWhiteImage(height, width, filename):
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	88 img = ones((height, width, 3), uint8)*255
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	89 imsave(filename, img)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	90
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	91 if opencvAvailable:
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	92 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
302 9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	93 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	94 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	95 return H
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	96
406 37c7b46f6e21 update to OpenCV 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 402 diff changeset	97 def arrayToCvMat(a, t = cv2.CV_64FC1):
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	98 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	99 print('Deprecated, use new interface')
152 74b1fc68d4df re-organized code to avoid cyclic python module dependencies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 151 diff changeset	100 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	101 for i in range(cvmat.rows):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	102 for j in range(cvmat.cols):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	103 cvmat[i,j] = a[i,j]
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	104 return cvmat
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	105
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	106 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	107 if lastCoordinate is None:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	108 last = positions.length()-1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	109 elif lastCoordinate >=0:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	110 last = min(positions.length()-1, lastCoordinate)
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	111 for i in range(0, last):
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	112 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	113
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	114 def cvImshow(windowName, img, rescale = 1.0):
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	115 'Rescales the image (in particular if too large)'
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	116 from cv2 import resize
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	117 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	118 size = (int(round(img.shape[1]rescale)), int(round(img.shape[0]rescale)))
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	119 resizedImg = resize(img, size)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	120 cv2.imshow(windowName, resizedImg)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	121 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	122 cv2.imshow(windowName, img)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	123
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	124 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	125 newImgSize = (int(round(widthundistortedImageMultiplication)), int(round(heightundistortedImageMultiplication)))
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 904 diff changeset	126 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	127 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	128
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	129 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	130 '''Plays the video(s)'''
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	131 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	132 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	133 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	134 colorType = 'default'
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	135 if len(filenames) == 0:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 820 diff changeset	136 print('Empty filename list')
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 820 diff changeset	137 return
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	138 if windowNames is None:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	139 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	140 wait = 5
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	141 if rescale == 1.:
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	142 for windowName in windowNames:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	143 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	144 if frameRate > 0:
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	145 wait = int(round(1000./frameRate))
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	146 if interactive:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	147 wait = 0
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	148 captures = [cv2.VideoCapture(fn) for fn in filenames]
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	149 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	150 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	151 ret = True
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	152 nFramesShown = 0
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 820 diff changeset	153 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	154 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	155 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	156 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	157 rets = []
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	158 images = []
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	159 for cap in captures:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	160 ret, img = cap.read()
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	161 rets.append(ret)
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	162 images.append(img)
958 747a5c68bd3c minor improvement and bug correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 950 diff changeset	163 ret = array(rets).all()
747a5c68bd3c minor improvement and bug correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 950 diff changeset	164 if ret:
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	165 if printFrames:
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	166 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	167 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	168 if text is not None:
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	169 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	170 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	171 key = cv2.waitKey(wait)
625 9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	172 if saveKey(key):
9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	173 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	174 nFramesShown += step
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	175 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	176 for i in xrange(len(captures)):
958 747a5c68bd3c minor improvement and bug correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 950 diff changeset	177 captures[i].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	178 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	179 else:
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	180 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	181
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	182 def infoVideo(filename):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	183 '''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	184 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	185 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	186 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	187 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	188 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	189 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	190 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	191 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	192 capture = cv2.VideoCapture(filename)
967 373e8ef6ee25 modified function to access video property Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 959 diff changeset	193 videoProperties = {}
657 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))
967 373e8ef6ee25 modified function to access video property Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 959 diff changeset	217 videoProperties[cvPropertyNames[cvprop]] = prop
657 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))
967 373e8ef6ee25 modified function to access video property Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 959 diff changeset	220 return videoProperties
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	221
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	222 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	223 '''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	224 images = []
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	225 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	226 if capture.isOpened():
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	227 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	228 if rawCount < 0:
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	229 rawCount = lastFrameNum+1
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	230 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	231 ret = False
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	232 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	233 frameNum = firstFrameNum
858 2faabcbde2c4 minor improvements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 821 diff changeset	234 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	235 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	236 i = 0
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	237 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	238 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	239 i += 1
799 0662c87a61c9 minor modification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 798 diff changeset	240 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	241 if saveImage:
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	242 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	243 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	244 else:
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	245 images.append(img)
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	246 frameNum +=step
5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	247 if step > 1:
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	248 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	249 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	250 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	251 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	252 return images
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	253
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	254 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	255 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	256 if capture.isOpened():
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	257 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	258 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	259 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	260 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	261 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	262 return None
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	263
928 063d1267585d work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	264 def imageBoxSize(obj, frameNum, width, height, px = 0.2, py = 0.2):
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	265 '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	266 x = []
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	267 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	268 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	269 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	270 if f.existsAtInstant(frameNum):
929 be28a3538dc9 work in progress on projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 928 diff changeset	271 p = f.getPositionAtInstant(frameNum)
be28a3538dc9 work in progress on projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 928 diff changeset	272 x.append(p.x)
be28a3538dc9 work in progress on projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 928 diff changeset	273 y.append(p.y)
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	274 xmin = min(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	275 xmax = max(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	276 ymin = min(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	277 ymax = max(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	278 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	279 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	280 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	281 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	282 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	283 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	284 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	285 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	286
928 063d1267585d work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	287 def imageBox(img, obj, frameNum, width, height, px = 0.2, py = 0.2, minNPixels = 800):
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	288 'Computes the bounding box of object at frameNum'
928 063d1267585d work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	289 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, width, height, px, py)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	290 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	291 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	292 else:
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	293 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	294
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	295 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	296 '''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	297 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	298 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	299 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	300 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	301
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	302 capture = cv2.VideoCapture(videoFilename)
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	303 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	304 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	305
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	306 windowName = 'frame'
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	307 if rescale == 1.:
94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	308 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	309
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	310 if undistort: # setup undistortion
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	311 [map1, map2], newCameraMatrix = 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	312 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	313 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	314 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	315 frameNum = firstFrameNum
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	316 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	317 if lastFrameNumArg is None:
978 184f1dd307f9 corrected print and exception statements for Python 3 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 969 diff changeset	318 lastFrameNum = float("inf")
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	319 else:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	320 lastFrameNum = lastFrameNumArg
981 c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	321 if saveAllImages:
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	322 if nZerosFilenameArg is None:
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	323 if lastFrameNumArg is None:
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	324 nZerosFilename = int(ceil(log10(objects[-1].getLastInstant())))
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	325 else:
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	326 nZerosFilename = int(ceil(log10(lastFrameNum)))
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	327 else:
c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	328 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	329 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	330 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	331 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	332 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	333 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	334 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	335 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	336 # plot objects
947 053484e08947 found a more elegant solution, making a copy of the list to iterate Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 946 diff changeset	337 for obj in objects[:]:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	338 if obj.existsAtInstant(frameNum):
236 eb4525853030 added script to display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 235 diff changeset	339 if not hasattr(obj, 'projectedPositions'):
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	340 obj.projectedPositions = obj.getPositions().homographyProject(homography)
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	341 if undistort:
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	342 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	343 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	344 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	345 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	346 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	347 objDescription = '{} '.format(obj.num)
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	348 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	349 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	350 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	351 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	352 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	353 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
947 053484e08947 found a more elegant solution, making a copy of the list to iterate Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 946 diff changeset	354 if obj.getLastInstant() == frameNum:
053484e08947 found a more elegant solution, making a copy of the list to iterate Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 946 diff changeset	355 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	356 # 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	357 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	358 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	359 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	360 # 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	361 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	362 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	363 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	364 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	365 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	366 else:
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	367 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	368 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	369 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	370 # 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	371 if not saveAllImages:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	372 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	373 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	374 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	375 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	376 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	377 if nFramesStep > 1:
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	378 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	379 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	380 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	381 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	382
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	383 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	384 '''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	385 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	386 # 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	387 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	388 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	389 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	390 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	391 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	392 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	393 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	394
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	395 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	396 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	397 [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	398 [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	399
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	400 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	401 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	402
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	403 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	404 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	405 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	406 to distorted (original image)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	407 map1(x,y) = originalx, originaly'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	408 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	409 disty = npabs(map2-y)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	410 indices = logical_and(distx<maxDistance, disty<maxDistance)
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	411 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	412 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	413 yWeights = 1-disty[indices]
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	414 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	415
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	416 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	417 '''test 'perfect' inversion'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	418 undistortedTrajectory = moving.Trajectory()
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	419 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	420 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	421 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	422 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	423 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	424 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	425 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	426
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	427 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	428 '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	429 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	430 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	431 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	432 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	433 res = undistortedCoordinates(x,y, map1, map2)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	434 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	435 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	436 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	437 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	438
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	439 def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True):
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	440 ''' Camera calibration searches through all the images (jpg or png) located
897 f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	441 in _path_ for matches to a checkerboard pattern of size checkboardSize.
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	442 These images should all be of the same camera with the same resolution.
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	443
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	444 For best results, use an asymetric board and ensure that the image has
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	445 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	446
897 f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	447 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	448
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	449 The code below is based off of:
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	450 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	451 Modified by Paul St-Aubin
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	452 '''
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	453 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	454
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	455 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	456 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	457
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	458 # 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	459 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	460 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	461
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	462 # 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	463 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	464 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	465
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	466 ## 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	467 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	468 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	469 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	470 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	471
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	472 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	473 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	474
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	475 # 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	476 if ret:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	477 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	478
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	479 if secondPassSearch:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	480 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	481
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	482 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	483 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	484
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	485 # Draw and display the corners
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	486 if display:
950 c03d2c0a4c04 corrected bugs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 947 diff changeset	487 cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	488 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	489 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	490 cv2.waitKey(0)
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	491 else:
b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	492 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	493 ## 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	494 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	495 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	496 return None
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	497 try:
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	498 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	499 if fixK2:
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	500 flags += cv2.cv.CV_CALIB_FIX_K2
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	501 if fixK3:
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	502 flags += cv2.cv.CV_CALIB_FIX_K3
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	503 if zeroTangent:
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	504 flags += cv2.cv.CV_CALIB_ZERO_TANGENT_DIST
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	505 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	506 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	507 return None
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	508 savetxt('intrinsic-camera.txt', camera_matrix)
978 184f1dd307f9 corrected print and exception statements for Python 3 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 969 diff changeset	509 print('error: {}'.format(ret))
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	510 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	511
545 9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	512 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	513 '''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	514 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	515 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	516 [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	517 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	518
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	519
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	520 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	521 '''Prints the cvmat to out'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	522 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	523 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	524 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	525 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	526 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	527
932 66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	528 def homographyProject(points, homography, output3D = False):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	529 '''Returns the coordinates of the points (2xN array) projected through homography'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	530 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	531 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	532
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	533 if homography is not None and homography.size>0:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	534 if output3D:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	535 outputDim = 3
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	536 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	537 outputDim = 2
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	538 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	539 prod = dot(homography, augmentedPoints)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	540 return prod[:outputDim,:]/prod[2]
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	541 elif output3D:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	542 return append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	543 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	544 return points
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	545
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	546 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	547 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	548 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	549 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	550 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	551 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	552
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	553 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	554 undistortedPoints = cv2.undistortPoints(points.T.reshape(1,points.shape[1], 2), intrinsicCameraMatrix, distortionCoefficients).reshape(-1,2)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	555 return homographyProject(undistortedPoints.T, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	556 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	557 return homographyProject(points, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	558
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	559 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	560 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	561 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	562 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	563 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	564 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	565
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	566 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	567 projected3D = homographyProject(points, homography, True)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	568 projected, jacobian = cv2.projectPoints(projected3D.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	569 return projected.reshape(-1,2).T
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	570 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	571 return homographyProject(points, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	572
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	573 def newCameraProject(points, newCameraMatrix):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	574 '''Projects points (2xN array) as if seen by camera
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	575 (or reverse by inverting the camera matrix)'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	576 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	577 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	578
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	579 if newCameraMatrix is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	580 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	581 projected = dot(newCameraMatrix, augmentedPoints)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	582 return projected[:2,:]
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	583 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	584 return points
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	585
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	586 if opencvAvailable:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	587 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	588 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	589 (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	590 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	591
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	592 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	593
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	594 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	595 (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	596 # 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	597 delta = []
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	598 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	599 if status[k] == 1:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	600 dp = p2-p1
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	601 d = npsum(dp**2)
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	602 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	603 delta.append(dp)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	604 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	605 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	606 else:
156 2eef5620c0b3 added key values for opencv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	607 print(dp)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	608 return None
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	609
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	610 if skimageAvailable:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	611 from skimage.feature import hog
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	612 from skimage import color, transform
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	613
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	614 def HOG(image, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2), blockNorm = 'L1', visualize = False, transformSqrt = 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	615 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	616 inputImg = transform.resize(bwImg, rescaleSize)
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	617 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt, True)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	618 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	619 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	620 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	621 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	622 figure()
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	623 subplot(1,2,1)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	624 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	625 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	626 imshow(hogViz)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	627 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	628
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	629 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations = 9, pixelsPerCell = (8,8), blockNorm = 'L1', cellsPerBlock = (2, 2), visualize = False, transformSqrt = False):
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	630 inputData = []
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	631 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	632 img = imread(imageDirectory+filename)
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	633 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	634 inputData.append(features)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	635
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	636 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	637 return array(inputData, dtype = float32), array([classLabel]*nImages)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	638
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	639
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	640 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	641 # running tests
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	642 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	643
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	644 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	645 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	646 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	647 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	648 #suite = doctest.DocTestSuite()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	649 unittest.TextTestRunner().run(suite)
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	650 #doctest.testmod()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	651 #doctest.testfile("example.txt")

Mercurial Hosting > traffic-intelligence

annotate python/cvutils.py @ 981:c3e690c5536e