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annotate scripts/undistort-video.py @ 1152:dceaca7e1c97 dev

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old work on stabilization for drones
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 24 Aug 2020 15:34:39 -0400
parents 0f6b0f63eb07
children 52aa03260f03
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1 #! /usr/bin/env python
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2
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3 import sys, argparse
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4
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5 import numpy as np
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6 import cv2
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7
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8 import cvutils
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9 from math import ceil, log10
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10 from os import path, mkdir
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11
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12 parser = argparse.ArgumentParser(description='''The program converts a video into a series of images corrected for distortion. One can then use mencoder to generate a movie, eg
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13 $ mencoder 'mf://./*.png' -mf fps=[framerate]:type=png -ovc xvid -xvidencopts bitrate=[bitrate] -nosound -o [output.avi]''')
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14
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15 parser.add_argument('-i', dest = 'videoFilename', help = 'filename of the video sequence')
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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('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
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20 parser.add_argument('-l', dest = 'lastFrameNum', help = 'number of last frame number to save', type = int)
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21 parser.add_argument('-d', dest = 'destinationDirname', help = 'name of the directory where the undistorted frames are saved')
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22 parser.add_argument('--encode', dest = 'encodeVideo', help = 'indicate if video is generated at the end (default Xvid)', action = 'store_true')
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23 parser.add_argument('--fps', dest = 'fps', help = 'frame per second of the output video file if encoding', type = float, default = 30)
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24 parser.add_argument('--bitrate', dest = 'bitrate', help = 'bitrate of the output video file if encoding', type = int, default = 5000)
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25
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26 args = parser.parse_args()
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27
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28 intrinsicCameraMatrix = np.loadtxt(args.intrinsicCameraMatrixFilename)
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29 #distortionCoefficients = args.distortionCoefficients
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30 #undistortedImageMultiplication = args.undistortedImageMultiplication
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31 #firstFrameNum = params.firstFrameNum
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32 if args.destinationDirname is None:
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33 destinationDirname = ''
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34 else:
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35 if not args.destinationDirname.endswith('/'):
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36 destinationDirname = args.destinationDirname+'/'
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37 else:
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38 destinationDirname = args.destinationDirname
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39 if not path.exists(destinationDirname):
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40 mkdir(destinationDirname)
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41
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42 capture = cv2.VideoCapture(args.videoFilename)
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43 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
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44 height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
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45 [map1, map2] = cvutils.computeUndistortMaps(width, height, args.undistortedImageMultiplication, intrinsicCameraMatrix, args.distortionCoefficients)
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46 if capture.isOpened():
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47 ret = True
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48 frameNum = args.firstFrameNum
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49 capture.set(cv2.CAP_PROP_POS_FRAMES, args.firstFrameNum)
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50 if args.lastFrameNum is None:
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51 from sys import maxint
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52 lastFrameNum = maxint
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53 else:
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54 lastFrameNum = args.lastFrameNum
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55 nZerosFilename = int(ceil(log10(lastFrameNum)))
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56 while ret and frameNum < lastFrameNum:
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57 ret, img = capture.read()
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58 if ret:
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59 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
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60 cv2.imwrite(destinationDirname+'undistorted-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
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61 frameNum += 1
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62
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63 if args.encodeVideo:
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64 print('Encoding the images files in video')
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65 from subprocess import check_call
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66 from storage import openCheck
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67 out = openCheck("err.log", "w")
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68 check_call("mencoder \'mf://"+destinationDirname+"*.png\' -mf fps={}:type=png -ovc xvid -xvidencopts bitrate={} -nosound -o ".format(args.fps, args.bitrate)+destinationDirname+"undistort.avi", stderr = out, shell = True)
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69 out.close()