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annotate python/cvutils.py @ 99:e7dc5a780f09
added conversion functions and homography computation
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 12 Jul 2011 17:01:59 -0400 |
parents | b85912ab4064 |
children | 2a3cafcf5faf |
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28 | 1 #! /usr/bin/env python |
2 '''Image/Video utilities''' | |
3 | |
4 import Image, ImageDraw # PIL | |
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5 import cv |
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6 from sys import stdout |
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7 |
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8 #import aggdraw # agg on top of PIL (antialiased drawing) |
28 | 9 from moving import Point |
10 #import utils | |
11 | |
12 __metaclass__ = type | |
13 | |
14 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'): | |
15 '''Draws lines over the image ''' | |
16 | |
17 img = Image.open(filename) | |
18 | |
19 draw = ImageDraw.Draw(img) | |
20 #draw = aggdraw.Draw(img) | |
21 #pen = aggdraw.Pen("red", width) | |
22 for p1, p2 in zip(origins, destinations): | |
23 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0)) | |
24 #draw.line([p1.x, p1.y, p2.x, p2.y], pen) | |
25 del draw | |
26 | |
27 #out = utils.openCheck(resultFilename) | |
28 img.save(resultFilename) | |
29 | |
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30 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0): |
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31 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' |
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32 cvSrcPoints = arrayToCvMat(srcPoints); |
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33 cvDstPoints = arrayToCvMat(dstPoints); |
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34 H = cv.CreateMat(3, 3, cv.CV_64FC1) |
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35 cv.FindHomography(cvSrcPoints, cvDstPoints, H, method, ransacReprojThreshold) |
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36 return H |
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37 |
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38 def cvMatToArray(cvmat): |
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39 '''Converts an OpenCV CvMat to numpy array.''' |
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40 from numpy.core.multiarray import zeros |
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41 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height) |
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42 for i in xrange(cvmat.rows): |
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43 for j in xrange(cvmat.cols): |
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44 a[i,j] = cvmat[i,j] |
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45 return a |
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46 |
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47 def arrayToCvMat(a, t = cv.CV_64FC1): |
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48 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.''' |
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49 cvmat = cv.CreateMat(a.shape[0], a.shape[1], t) |
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50 for i in range(cvmat.rows): |
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51 for j in range(cvmat.cols): |
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52 cvmat[i,j] = a[i,j] |
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53 return cvmat |
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54 |
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55 def printCvMat(cvmat, out = stdout): |
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56 '''Prints the cvmat to out''' |
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57 for i in xrange(cvmat.rows): |
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58 for j in xrange(cvmat.cols): |
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59 out.write('{0} '.format(cvmat[i,j])) |
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60 out.write('\n') |
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61 |
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62 def projectArray(homography, points): |
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63 '''Returns the coordinates of the projected points (format 2xN points) |
28 | 64 through homography''' |
65 from numpy.core._dotblas import dot | |
66 from numpy.core.multiarray import array | |
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67 from numpy.lib.function_base import append |
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68 |
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69 if points.shape[0] != 2: |
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70 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1])) |
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71 |
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72 if (homography!=None) and homography.size>0: |
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73 augmentedPoints = append(points,[[1]*points.shape[1]], 0) |
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74 prod = dot(homography, augmentedPoints) |
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75 return prod[0:2]/prod[2] |
28 | 76 else: |
77 return p | |
78 | |
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79 def project(homography, p): |
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80 '''Returns the coordinates of the projection of the point p |
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81 through homography''' |
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82 from numpy.core.multiarray import array |
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83 return projectArray(homography, array([[p[0]],p[1]])) |
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84 |
28 | 85 def projectTrajectory(homography, trajectory): |
86 '''Projects a series of points in the format | |
87 [[x1, x2, ...], | |
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88 [y1, y2, ...]]''' |
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89 from numpy.core.multiarray import array |
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90 return projectArray(homography, array(trajectory)) |
28 | 91 |
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92 def invertHomography(homography): |
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93 'Returns an inverted homography' |
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94 from numpy.linalg.linalg import inv |
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95 invH = inv(homography) |
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96 invH /= invH[2,2] |
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97 return invH |
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98 |
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99 class FourWayIntersection: |
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100 '''Simple class for simple intersection outline''' |
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101 def __init__(self, dimension, coordX, coordY): |
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102 self.dimension = dimension |
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103 self.coordX = coordX |
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104 self.coordY = coordY |
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105 |
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106 def plot(self, options = 'k'): |
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107 from matplotlib.pyplot import plot, axis |
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108 |
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109 minX = min(self.dimension[0]) |
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110 maxX = max(self.dimension[0]) |
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111 minY = min(self.dimension[1]) |
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112 maxY = max(self.dimension[1]) |
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113 |
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114 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options) |
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115 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options) |
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116 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options) |
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117 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options) |
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118 axis('equal') |