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annotate python/cvutils.py @ 820:e73e7b644428

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generalized play-video for several files (already synchronized
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 22 Jun 2016 15:23:20 -0400
parents 52aa03260f03
children 26daf35180ad
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import utils, moving
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5
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6 try:
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7 import cv2
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8 opencvAvailable = True
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9 except ImportError:
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10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
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11 opencvAvailable = False
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12 try:
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13 import skimage
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14 skimageAvailable = True
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15 except ImportError:
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16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
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17 skimageAvailable = False
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19 from sys import stdout, maxint
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20 from os import listdir
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21 from copy import deepcopy
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22 from math import floor, log10, ceil
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23
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24 from numpy import dot, array, append, float32, loadtxt, savetxt, append, zeros, ones, identity, abs as npabs, logical_and, unravel_index, sum as npsum, isnan, mgrid, median, floor as npfloor, ceil as npceil
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25 from matplotlib.mlab import find
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26 from matplotlib.pyplot import imread, imsave
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30 #import aggdraw # agg on top of PIL (antialiased drawing)
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33 cvRed = (0,0,255)
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34 cvGreen = (0,255,0)
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35 cvBlue = (255,0,0)
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36 cvCyan = (255, 255, 0)
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37 cvYellow = (0, 255, 255)
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38 cvMagenta = (255, 0, 255)
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39 cvWhite = (255, 255, 255)
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40 cvBlack = (0,0,0)
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41 cvColors3 = utils.PlottingPropertyValues([cvRed,
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42 cvGreen,
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43 cvBlue])
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44 cvColors = utils.PlottingPropertyValues([cvRed,
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45 cvGreen,
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46 cvBlue,
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47 cvCyan,
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48 cvYellow,
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49 cvMagenta,
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50 cvWhite,
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51 cvBlack])
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52
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53 def quitKey(key):
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54 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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55
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56 def saveKey(key):
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57 return chr(key&255) == 's'
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58
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59 def int2FOURCC(x):
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60 fourcc = ''
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61 for i in xrange(4):
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62 fourcc += unichr((x >> 8*i)&255)
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63 return fourcc
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64
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65 def plotLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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66 '''Draws lines over the image '''
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67 import Image, ImageDraw # PIL
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68
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69 img = Image.open(filename)
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70
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71 draw = ImageDraw.Draw(img)
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72 #draw = aggdraw.Draw(img)
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73 #pen = aggdraw.Pen("red", width)
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74 for p1, p2 in zip(origins, destinations):
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75 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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76 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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77 del draw
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78
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79 #out = utils.openCheck(resultFilename)
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80 img.save(resultFilename)
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81
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82 def rgb2gray(rgb):
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83 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
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84
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85 def matlab2PointCorrespondences(filename):
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86 '''Loads and converts the point correspondences saved
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87 by the matlab camera calibration tool'''
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88 points = loadtxt(filename, delimiter=',')
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89 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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90
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91 def loadPointCorrespondences(filename):
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92 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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93 points = loadtxt(filename, dtype=float32)
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94 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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95
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96 def cvMatToArray(cvmat):
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97 '''Converts an OpenCV CvMat to numpy array.'''
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98 print('Deprecated, use new interface')
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99 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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100 for i in xrange(cvmat.rows):
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101 for j in xrange(cvmat.cols):
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102 a[i,j] = cvmat[i,j]
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103 return a
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104
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105 def createWhiteImage(height, width, filename):
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106 img = ones((height, width, 3), uint8)*255
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107 imsave(filename, img)
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108
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109 if opencvAvailable:
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110 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
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111 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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112 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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113 return H
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114
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115 def arrayToCvMat(a, t = cv2.CV_64FC1):
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116 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
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117 print('Deprecated, use new interface')
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118 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112
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119 for i in range(cvmat.rows):
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120 for j in range(cvmat.cols):
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121 cvmat[i,j] = a[i,j]
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122 return cvmat
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123
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124 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
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125 if lastCoordinate is None:
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126 last = positions.length()-1
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127 elif lastCoordinate >=0:
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128 last = min(positions.length()-1, lastCoordinate)
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129 for i in range(0, last):
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pstaub
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diff changeset
130 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
203
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parents: 171
diff changeset
131
385
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
132 def cvImshow(windowName, img, rescale = 1.0):
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parents: 384
diff changeset
133 'Rescales the image (in particular if too large)'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
134 from cv2 import resize
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
135 if rescale != 1.:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
136 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
137 resizedImg = resize(img, size)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
138 cv2.imshow(windowName, resizedImg)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
139 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
140 cv2.imshow(windowName, img)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
141
510
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
142 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
143 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
144 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
145 newCameraMatrix[0,2] = newImgSize[0]/2.
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parents: 509
diff changeset
146 newCameraMatrix[1,2] = newImgSize[1]/2.
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diff changeset
147 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
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parents: 509
diff changeset
148
820
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parents: 807
diff changeset
149 def playVideo(filenames, windowNames = None, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1):
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diff changeset
150 '''Plays the video(s)'''
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diff changeset
151 if windowNames is None:
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diff changeset
152 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))]
807
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parents: 799
diff changeset
153 wait = 5
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
154 if rescale == 1.:
820
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
155 for windowName in windowNames:
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parents: 807
diff changeset
156 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
157 if frameRate > 0:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
158 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
159 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
160 wait = 0
820
e73e7b644428 generalized play-video for several files (already synchronized
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parents: 807
diff changeset
161 captures = [cv2.VideoCapture(fn) for fn in filenames]
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parents: 807
diff changeset
162 if array([cap.isOpened() for cap in captures]).all():
149
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
163 key = -1
227
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
164 ret = True
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
165 frameNum = firstFrameNum
820
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
166 for cap in captures:
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parents: 807
diff changeset
167 cap.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
168 while ret and not quitKey(key):
820
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diff changeset
169 rets = []
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diff changeset
170 images = []
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parents: 807
diff changeset
171 for cap in captures:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
172 ret, img = cap.read()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
173 rets.append(ret)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
174 images.append(img)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
175 if array(rets).all():
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
176 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
177 print('frame {0}'.format(frameNum))
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
178 #if text is not None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
179 # cv2.putText(img, text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
180 for i in xrange(1, len(filenames)):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
181 cvImshow(windowNames[i], images[i], rescale)
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
182 cvImshow(windowNames[0], images[0], rescale) # cv2.imshow('frame', img)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
183 key = cv2.waitKey(wait)
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
184 if saveKey(key):
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
185 cv2.imwrite('image-{}.png'.format(frameNum), img)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
186 frameNum += step
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
187 if step > 1:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
188 for cap in captures:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
189 cap.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
190 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
191 else:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
192 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
193
657
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
194 def infoVideo(filename):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
195 '''Provides all available info on video '''
807
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
196 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
197 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
198 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
199 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
200 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
201 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
202 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
203 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
204 capture = cv2.VideoCapture(filename)
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
205 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
206 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
207 #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
208 #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
209 #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
210 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
211 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
212 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
213 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
214 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
215 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
216 #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
217 #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
218 #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
219 #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
220 #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
221 #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
222 #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
223 #cv2.cv.CV_CAP_PROP_SATURATION
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
224 ]:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
225 prop = capture.get(cvprop)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
226 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
227 prop = int2FOURCC(int(prop))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
228 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
229 else:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
230 print('Video capture for {} failed'.format(filename))
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
231
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
232 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
233 '''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
234 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
235 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
236 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
237 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
238 if rawCount < 0:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
239 rawCount = lastFrameNum+1
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
240 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
241 ret = False
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
242 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
243 frameNum = firstFrameNum
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
244 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
245 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
246 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
247 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
248 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
249 i += 1
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
250 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
251 if saveImage:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
252 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
253 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
254 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
255 images.append(img)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
256 frameNum +=step
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
257 if step > 1:
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
258 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
259 capture.release()
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))
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
262 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
263
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
264 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
265 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
266 if capture.isOpened():
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
267 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
268 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
269 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
270 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
271 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
272 return None
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
273
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
274 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
275 'Computes the bounding box 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
276 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
277 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
278 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
279 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
280 if f.existsAtInstant(frameNum):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
281 projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
282 x.append(projectedPosition.x)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 658
diff changeset
283 y.append(projectedPosition.y)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
284 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
285 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
286 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
287 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
288 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
289 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
290 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
291 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
292 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
293 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
294 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
295 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
296 croppedImg = 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
297 else:
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
298 croppedImg = None
548
e6ab4caf359c corrected bug
MohamedGomaa
parents: 547
diff changeset
299 return croppedImg, 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
300
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
301
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
302 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
303 '''Displays the objects overlaid frame by frame over the video '''
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
304 capture = cv2.VideoCapture(videoFilename)
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
305 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
306 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
307
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
308 windowName = 'frame'
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
309 if rescale == 1.:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
310 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
311
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
312 if undistort: # setup undistortion
510
b0dac840c24f compute homography works with undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
313 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
314 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
315 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
316 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
317 frameNum = firstFrameNum
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
318 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
319 if lastFrameNumArg is None:
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
320 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
321 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
322 lastFrameNum = lastFrameNumArg
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 478
diff changeset
323 nZerosFilename = int(ceil(log10(lastFrameNum)))
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
324 objectToDeleteIds = []
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
325 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
326 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
327 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
328 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
329 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
330 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
331 print('frame {0}'.format(frameNum))
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
332 if len(objectToDeleteIds) > 0:
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
333 objects = [o for o in objects if o.getNum() not in objectToDeleteIds]
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
334 objectToDeleteIds = []
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
335 # plot objects
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
336 for obj in objects:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
337 if obj.existsAtInstant(frameNum):
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
338 if obj.getLastInstant() == frameNum:
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
339 objectToDeleteIds.append(obj.getNum())
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
340 if not hasattr(obj, 'projectedPositions'):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
341 if homography is not None:
218
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
342 obj.projectedPositions = obj.positions.project(homography)
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
343 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
344 obj.projectedPositions = obj.positions
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
345 cvPlot(img, obj.projectedPositions, cvColors[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
346 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
347 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
348 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 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
349 objDescription = '{} '.format(obj.num)
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
350 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
351 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
352 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
353 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
354 objDescription += " FA"
766
6022350f8173 updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 726
diff changeset
355 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[obj.getNum()])
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]:
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
359 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[obj.getNum()])
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()]:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
365 color = cvColors[gtMatches[gt.getNum()][frameNum]] # same color as object
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
366 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
367 color = cvRed
766
6022350f8173 updated to OpenCV 3.1
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 726
diff changeset
368 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
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
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
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
395 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
396 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
397 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
398 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
399 map1(x,y) = originalx, originaly'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
400 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
401 disty = npabs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
402 indices = logical_and(distx<maxDistance, disty<maxDistance)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
403 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
404 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
405 yWeights = 1-disty[indices]
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
406 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
407
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
408 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
409 '''test 'perfect' inversion'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
410 undistortedTrajectory = moving.Trajectory()
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
411 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
412 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
413 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
414 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
415 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
416 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
417 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
418
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
419 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
420 '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
421 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
422 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
423 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
424 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
425 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
426 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
427 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
428 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
429 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
430
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
431 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
432 ''' Camera calibration searches through all the images (jpg or png) located
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
433 in _path_ for matches to a checkerboard pattern of size checkboardSize.
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
434 These images should all be of the same camera with the same resolution.
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
435
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
436 For best results, use an asymetric board and ensure that the image has
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
437 very high contrast, including the background. Suitable checkerboard:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
438 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
439
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
440 The code below is based off of:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
441 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
442 Modified by Paul St-Aubin
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
443 '''
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
444 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
445
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
446 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
447 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
448
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
449 # 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
450 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
451 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
452
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
453 # 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
454 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
455 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
456
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
457 ## 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
458 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
459 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
460 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
461 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
462
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
463 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
464 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
465
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
466 # 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
467 if ret:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
468 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
469
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
470 if secondPassSearch:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
471 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
472
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
473 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
474 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
475
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
476 # Draw and display the corners
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
477 if display:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
478 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
479 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
480 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
481 cv2.waitKey(0)
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
482 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
483 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
484 ## 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
485 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
486 if len(objpoints) == 0 or len(imgpoints) == 0:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
487 return False
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
488 try:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
489 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
490 except NameError:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
491 return False
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
492 savetxt('intrinsic-camera.txt', camera_matrix)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
493 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
494
545
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
495 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
496 '''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
497 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
498 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
499 [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
500 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
501
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
502
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
503 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
504 '''Prints the cvmat to out'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
505 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
506 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
507 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
508 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
509 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
510
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
511 def projectArray(homography, points):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
512 '''Returns the coordinates of the projected points through homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
513 (format: array 2xN points)'''
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
514 if points.shape[0] != 2:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
515 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
516
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
517 if (homography is not None) and homography.size>0:
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
518 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
519 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
520 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
521 return prod[0:2]/prod[2]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
522 else:
547
97c5fef5b2d6 corrected bugs
MohamedGomaa
parents: 538
diff changeset
523 return points
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
524
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
525 def project(homography, p):
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 315
diff changeset
526 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
527 through homography'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
528 return projectArray(homography, array([[p[0]],[p[1]]]))
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
529
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
530 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
531 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
532 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
533 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
534 return projectArray(homography, array(trajectory))
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
535
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
536 def invertHomography(homography):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
537 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
538 Unnecessary for reprojection over camera image'''
673
5505f9dbb28e corrected import bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
539 from numpy.linalg import inv
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
540 invH = inv(homography)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
541 invH /= invH[2,2]
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
542 return invH
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
543
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
544 def undistortTrajectory(invMap1, invMap2, positions):
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
545 floorPositions = npfloor(positions)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
546 #ceilPositions = npceil(positions)
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
547 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
548 for i in xrange(len(positions[0])):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
549 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
550 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
551 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
552 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
553 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
554 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
555 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
556 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
557 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
558 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
559 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
560 undistortedTrajectory[0].append(x)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
561 undistortedTrajectory[1].append(y)
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
562 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
563
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
564 def projectGInputPoints(homography, points):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
565 return projectTrajectory(homography, array(points+[points[0]]).T)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
566
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
567 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
568 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
569 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
570 (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
571 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
572
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
573 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
574
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
575 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
576 (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
577 # 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
578 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
579 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
580 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
581 dp = p2-p1
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
582 d = npsum(dp**2)
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
583 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
584 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
585 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
586 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
587 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
588 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
589 return None
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
590
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
591 if skimageAvailable:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
592 from skimage.feature import hog
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
593 from skimage import color, transform
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
594
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
595 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
596 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
597 inputImg = transform.resize(bwImg, rescaleSize)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
598 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
599 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
600 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
601 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
602 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
603 figure()
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
604 subplot(1,2,1)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
605 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
606 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
607 imshow(hogViz)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
608 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
609
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
610 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False):
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
611 inputData = []
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
612 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
613 img = imread(imageDirectory+filename)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
614 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
615 inputData.append(features)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
616
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
617 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
618 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
619
22ddb8f85495 added function to create HOG training set
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620
807
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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621 #########################
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622 # running tests
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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623 #########################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
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624
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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625 if __name__ == "__main__":
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626 import doctest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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627 import unittest
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628 suite = doctest.DocFileSuite('tests/cvutils.txt')
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629 #suite = doctest.DocTestSuite()
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630 unittest.TextTestRunner().run(suite)
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631 #doctest.testmod()
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632 #doctest.testfile("example.txt")