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annotate scripts/display-trajectories.py @ 981:c3e690c5536e

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corrected bug in display trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 27 Feb 2018 15:24:57 -0500
parents c69a8defe5c3
children 933670761a57
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1 #! /usr/bin/env python
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3 import sys, argparse
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5 import storage, cvutils, utils
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7 from numpy.linalg import inv
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8 from numpy import loadtxt
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10 parser = argparse.ArgumentParser(description='The program displays feature or object trajectories overlaid over the video frames.', epilog = 'Either the configuration filename or the other parameters (at least video and database filenames) need to be provided.')
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11 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
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12 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)')
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13 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file (overrides the configuration file)')
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14 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to display', choices = ['feature', 'object'], default = 'feature')
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15 parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the image to world homography file')
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16 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
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17 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
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18 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
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19 parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
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20 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
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21 parser.add_argument('-l', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int)
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22 parser.add_argument('-r', dest = 'rescale', help = 'rescaling factor for the displayed image', default = 1., type = float)
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23 parser.add_argument('-s', dest = 'nFramesStep', help = 'number of frames between each display', default = 1, type = int)
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24 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to display', type = int)
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25 parser.add_argument('--save-images', dest = 'saveAllImages', help = 'save all images', action = 'store_true')
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26 parser.add_argument('--nzeros', dest = 'nZerosFilenameArg', help = 'number of digits in filenames', type = int)
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28 args = parser.parse_args()
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30 params, videoFilename, databaseFilename, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum = storage.processVideoArguments(args)
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32 if args.homographyFilename is not None:
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33 invHomography = inv(loadtxt(args.homographyFilename))
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34 if args.intrinsicCameraMatrixFilename is not None:
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35 intrinsicCameraMatrix = loadtxt(args.intrinsicCameraMatrixFilename)
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36 if args.distortionCoefficients is not None:
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37 distortionCoefficients = args.distortionCoefficients
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38 if args.undistortedImageMultiplication is not None:
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39 undistortedImageMultiplication = args.undistortedImageMultiplication
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40 if args.firstFrameNum is not None:
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41 firstFrameNum = args.firstFrameNum
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42 if args.nObjects is not None:
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43 nObjects = args.nObjects
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44 else:
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45 nObjects = None
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47 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, args.trajectoryType, nObjects)
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48 boundingBoxes = storage.loadBoundingBoxTableForDisplay(databaseFilename)
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49 cvutils.displayTrajectories(videoFilename, objects, boundingBoxes, invHomography, firstFrameNum, args.lastFrameNum, rescale = args.rescale, nFramesStep = args.nFramesStep, saveAllImages = args.saveAllImages, nZerosFilenameArg = args.nZerosFilenameArg, undistort = (undistort or args.undistort), intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)