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annotate python/cvutils.py @ 993:e8eabef7857c

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update to OpenCV3 for python
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 16 May 2018 21:06:52 -0400
parents 132d84ce9f0c
children 933670761a57
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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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18
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19 from sys import stdout
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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 numpy.linalg import inv
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26 from matplotlib.mlab import find
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27 from matplotlib.pyplot import imread, imsave
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28
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29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
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31 #importaggdraw # agg on top of PIL (antialiased drawing)
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34 cvRed = {'default': (0,0,255),
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35 'colorblind': (0,114,178)}
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36 cvGreen = {'default': (0,255,0),
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37 'colorblind': (0,158,115)}
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38 cvBlue = {'default': (255,0,0),
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39 'colorblind': (213,94,0)}
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40 cvCyan = {'default': (255, 255, 0),
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41 'colorblind': (240,228,66)}
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42 cvYellow = {'default': (0, 255, 255),
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43 'colorblind': (86,180,233)}
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44 cvMagenta = {'default': (255, 0, 255),
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45 'colorblind': (204,121,167)}
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46 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
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47 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
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49 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
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50 cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']}
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51
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52 def quitKey(key):
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53 return chr(key&255)== 'q' or chr(key&255) == 'Q'
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54
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55 def saveKey(key):
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56 return chr(key&255) == 's'
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58 def int2FOURCC(x):
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59 fourcc = ''
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60 for i in xrange(4):
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61 fourcc += unichr((x >> 8*i)&255)
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62 return fourcc
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63
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64 def rgb2gray(rgb):
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65 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
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67 def matlab2PointCorrespondences(filename):
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68 '''Loads and converts the point correspondences saved
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69 by the matlab camera calibration tool'''
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70 points = loadtxt(filename, delimiter=',')
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71 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
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73 def loadPointCorrespondences(filename):
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74 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
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75 points = loadtxt(filename, dtype=float32)
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76 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
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78 def cvMatToArray(cvmat):
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79 '''Converts an OpenCV CvMat to numpy array.'''
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80 print('Deprecated, use new interface')
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81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
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82 for i in xrange(cvmat.rows):
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83 for j in xrange(cvmat.cols):
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84 a[i,j] = cvmat[i,j]
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85 return a
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86
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87 def createWhiteImage(height, width, filename):
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88 img = ones((height, width, 3), uint8)*255
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89 imsave(filename, img)
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91 if opencvAvailable:
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92 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
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93 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
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94 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
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95 return H
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96
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97 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
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98 if lastCoordinate is None:
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99 last = positions.length()-1
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100 elif lastCoordinate >=0:
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101 last = min(positions.length()-1, lastCoordinate)
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102 for i in range(0, last):
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103 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
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104
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105 def cvImshow(windowName, img, rescale = 1.0):
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106 'Rescales the image (in particular if too large)'
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107 from cv2 import resize
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108 if rescale != 1.:
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109 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
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110 resizedImg = resize(img, size)
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111 cv2.imshow(windowName, resizedImg)
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112 else:
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113 cv2.imshow(windowName, img)
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114
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115 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
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116 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
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117 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
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118 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
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119
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120 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
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121 '''Plays the video(s)'''
868
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parents: 864
diff changeset
122 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
123 colorType = 'colorblind'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
124 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
125 colorType = 'default'
821
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
126 if len(filenames) == 0:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
127 print('Empty filename list')
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
128 return
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
129 if windowNames is None:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
130 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))]
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
131 wait = 5
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
132 if rescale == 1.:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
133 for windowName in windowNames:
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
134 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
135 if frameRate > 0:
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
136 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
137 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
138 wait = 0
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
139 captures = [cv2.VideoCapture(fn) for fn in filenames]
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
140 if array([cap.isOpened() for cap in captures]).all():
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
141 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
142 ret = True
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
143 nFramesShown = 0
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
144 if firstFrameNums is not None:
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
145 for i in xrange(len(captures)):
993
e8eabef7857c update to OpenCV3 for python
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parents: 989
diff changeset
146 captures[i].set(cv2.PROP_POS_FRAMES, firstFrameNums[i])
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
147 while ret and not quitKey(key):
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
148 rets = []
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
149 images = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
150 for cap in captures:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
151 ret, img = cap.read()
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
152 rets.append(ret)
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
153 images.append(img)
958
747a5c68bd3c minor improvement and bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 950
diff changeset
154 ret = array(rets).all()
747a5c68bd3c minor improvement and bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 950
diff changeset
155 if ret:
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
156 if printFrames:
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
157 print('frame shown {0}'.format(nFramesShown))
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
158 for i in xrange(len(filenames)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
159 if text is not None:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
160 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType])
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
161 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
162 key = cv2.waitKey(wait)
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
163 if saveKey(key):
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
164 cv2.imwrite('image-{}.png'.format(frameNum), img)
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
165 nFramesShown += step
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
166 if step > 1:
821
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 820
diff changeset
167 for i in xrange(len(captures)):
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
168 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
346
5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
169 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
170 else:
820
e73e7b644428 generalized play-video for several files (already synchronized
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 807
diff changeset
171 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
172
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
173 def infoVideo(filename):
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
174 '''Provides all available info on video '''
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
175 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
176 cv2.CAP_PROP_FOURCC: "codec (fourcc)",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
177 cv2.CAP_PROP_FPS: "fps",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
178 cv2.CAP_PROP_FRAME_COUNT: "number of frames",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
179 cv2.CAP_PROP_FRAME_HEIGHT: "heigh",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
180 cv2.CAP_PROP_FRAME_WIDTH: "width",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
181 cv2.CAP_PROP_RECTIFICATION: "rectification",
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
182 cv2.CAP_PROP_SATURATION: "saturation"}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
183 capture = cv2.VideoCapture(filename)
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
184 videoProperties = {}
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
185 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
186 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
187 #cv2.CAP_PROP_CONTRAST
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
188 #cv2.CAP_PROP_CONVERT_RGB
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
189 #cv2.CAP_PROP_EXPOSURE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
190 cv2.CAP_PROP_FORMAT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
191 cv2.CAP_PROP_FOURCC,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
192 cv2.CAP_PROP_FPS,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
193 cv2.CAP_PROP_FRAME_COUNT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
194 cv2.CAP_PROP_FRAME_HEIGHT,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
195 cv2.CAP_PROP_FRAME_WIDTH,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
196 #cv2.CAP_PROP_GAIN,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
197 #cv2.CAP_PROP_HUE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
198 #cv2.CAP_PROP_MODE
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
199 #cv2.CAP_PROP_POS_AVI_RATIO
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
200 #cv2.CAP_PROP_POS_FRAMES
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
201 #cv2.CAP_PROP_POS_MSEC
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
202 #cv2.CAP_PROP_RECTIFICATION,
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
203 #cv2.CAP_PROP_SATURATION
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
204 ]:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
205 prop = capture.get(cvprop)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
206 if cvprop == cv2.CAP_PROP_FOURCC and prop > 0:
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
207 prop = int2FOURCC(int(prop))
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
208 videoProperties[cvPropertyNames[cvprop]] = prop
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
209 else:
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
210 print('Video capture for {} failed'.format(filename))
967
373e8ef6ee25 modified function to access video property
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
211 return videoProperties
657
51269511229b added script printing video info
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 639
diff changeset
212
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
213 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
214 '''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
215 images = []
396
167f6ec44ec5 cleaned function to save images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
216 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
217 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
218 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
219 if rawCount < 0:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
220 rawCount = lastFrameNum+1
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
221 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
222 ret = False
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
223 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
224 frameNum = firstFrameNum
858
2faabcbde2c4 minor improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 821
diff changeset
225 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
226 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
227 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
228 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
229 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
230 i += 1
799
0662c87a61c9 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 798
diff changeset
231 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
232 if saveImage:
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
233 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
234 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
235 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
236 images.append(img)
798
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
237 frameNum +=step
5b99b676265e modified to get images very time step
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 788
diff changeset
238 if step > 1:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
239 capture.set(cv2.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
240 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
241 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
242 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
243 return images
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
244
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
245 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
246 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
247 if capture.isOpened():
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
248 fps = capture.get(cv2.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
249 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
250 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 396
diff changeset
251 else:
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
252 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
253 return None
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
254
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
255 def imageBoxSize(obj, frameNum, width, height, px = 0.2, py = 0.2):
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
256 'Computes the bounding box size of object at frameNum'
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
257 x = []
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
258 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
259 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
260 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
261 if f.existsAtInstant(frameNum):
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
262 p = f.getPositionAtInstant(frameNum)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
263 x.append(p.x)
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
264 y.append(p.y)
416
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
265 xmin = min(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
266 xmax = max(x)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
267 ymin = min(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
268 ymax = max(y)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
269 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
270 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
271 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
272 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
273 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
274 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
275 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
276 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
277
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
278 def imageBox(img, obj, frameNum, width, height, px = 0.2, py = 0.2, minNPixels = 800):
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
279 'Computes the bounding box of object at frameNum'
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
280 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, width, height, px, py)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
281 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
282 return img[yCropMin : yCropMax, xCropMin : xCropMax]
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
283 else:
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
284 return None
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
285
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
286 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, nZerosFilenameArg = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}, colorBlind = False):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
287 '''Displays the objects overlaid frame by frame over the video '''
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
288 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
289 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
290 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
291 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
292
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
293 capture = cv2.VideoCapture(videoFilename)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
294 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
295 height = int(capture.get(cv2.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
296
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
297 windowName = 'frame'
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
298 if rescale == 1.:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
299 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
300
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
301 if undistort: # setup undistortion
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
302 [map1, map2], newCameraMatrix = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
303 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
304 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
305 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
306 frameNum = firstFrameNum
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
307 capture.set(cv2.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
308 if lastFrameNumArg is None:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 969
diff changeset
309 lastFrameNum = float("inf")
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
310 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
311 lastFrameNum = lastFrameNumArg
989
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
312 if nZerosFilenameArg is None:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
313 if lastFrameNumArg is None:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
314 nZerosFilename = int(ceil(log10(objects[-1].getLastInstant())))
981
c3e690c5536e corrected bug in display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
315 else:
989
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
316 nZerosFilename = int(ceil(log10(lastFrameNum)))
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
317 else:
132d84ce9f0c bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 981
diff changeset
318 nZerosFilename = nZerosFilenameArg
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
319 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
320 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
321 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
322 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
323 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
324 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
325 print('frame {0}'.format(frameNum))
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
326 # plot objects
947
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
327 for obj in objects[:]:
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
328 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
329 if not hasattr(obj, 'projectedPositions'):
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
330 obj.projectedPositions = obj.getPositions().homographyProject(homography)
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
331 if undistort:
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 932
diff changeset
332 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
333 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
334 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
904
8f60ecfc2f06 work in progress, almost ready
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 903
diff changeset
335 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
336 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
337 objDescription = '{} '.format(obj.num)
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
338 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
339 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
340 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
341 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
342 objDescription += " FA"
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
343 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
947
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
344 if obj.getLastInstant() == frameNum:
053484e08947 found a more elegant solution, making a copy of the list to iterate
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 946
diff changeset
345 objects.remove(obj)
725
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
346 # 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
347 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
348 for rect in boundingBoxes[frameNum]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
349 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()])
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
350 # 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
351 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
352 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
353 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
354 if frameNum in gtMatches[gt.getNum()]:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
355 color = cvColors[colorType][gtMatches[gt.getNum()][frameNum]] # same color as object
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
356 else:
868
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
357 color = cvRed[colorType]
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 864
diff changeset
358 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, color)
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 725
diff changeset
359 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
360 # 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
361 if not saveAllImages:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
362 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
363 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
364 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
365 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
366 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
367 if nFramesStep > 1:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
368 capture.set(cv2.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
369 cv2.destroyAllWindows()
435
17185fe77316 added error messages if video not opened
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 429
diff changeset
370 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
371 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
372
639
4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 638
diff changeset
373 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
374 '''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
375 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
376 # 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
377 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
378 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
379 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
380 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
381 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
382 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
383 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
384
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
385 def getIntrinsicCameraMatrix(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
386 return array([[cameraData['f']*cameraData['Sx']/cameraData['dx'], 0, cameraData['Cx']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
387 [0, cameraData['f']/cameraData['dy'], cameraData['Cy']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
388 [0, 0, 1.]])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
389
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
390 def getDistortionCoefficients(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
391 return array([cameraData['k']]+4*[0])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
392
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
393 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
394 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
395 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
396 to distorted (original image)
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
397 map1(x,y) = originalx, originaly'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
398 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
399 disty = npabs(map2-y)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
400 indices = logical_and(distx<maxDistance, disty<maxDistance)
468
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
401 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
402 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 435
diff changeset
403 yWeights = 1-disty[indices]
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
404 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
405
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
406 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
407 '''test 'perfect' inversion'''
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
408 undistortedTrajectory = moving.Trajectory()
474
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
409 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
410 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
411 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
412 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
413 else:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
414 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
415 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 473
diff changeset
416
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
417 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
418 '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
419 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
420 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
421 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
422 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
423 res = undistortedCoordinates(x,y, map1, map2)
472
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
424 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
425 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
426 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
427 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 468
diff changeset
428
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
429 def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True):
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
430 ''' Camera calibration searches through all the images (jpg or png) located
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
431 in _path_ for matches to a checkerboard pattern of size checkboardSize.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
432 These images should all be of the same camera with the same resolution.
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
433
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
434 For best results, use an asymetric board and ensure that the image has
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
435 very high contrast, including the background.
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
436
897
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
437 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
438
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
439 The code below is based off of:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
440 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
441 Modified by Paul St-Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
442 '''
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
443 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
444
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
445 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
446 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
447
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
448 # 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
449 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
450 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
451
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
452 # 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
453 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
454 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
455
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
456 ## 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
457 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
458 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
459 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
460 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
461
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
462 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
463 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
464
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
465 # 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
466 if ret:
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
467 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
468
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
469 if secondPassSearch:
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
470 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
471
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
472 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
473 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
474
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
475 # Draw and display the corners
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
476 if display:
950
c03d2c0a4c04 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 947
diff changeset
477 cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772
e92a96f2bdd3 minor bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 769
diff changeset
478 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
479 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
480 cv2.waitKey(0)
774
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
481 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 772
diff changeset
482 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
483 ## 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
484 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
485 if len(objpoints) == 0 or len(imgpoints) == 0:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
486 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
487 try:
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
488 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
489 if fixK2:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
490 flags += cv2.CALIB_FIX_K2
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
491 if fixK3:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
492 flags += cv2.CALIB_FIX_K3
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
493 if zeroTangent:
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 989
diff changeset
494 flags += cv2.CALIB_ZERO_TANGENT_DIST
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
495 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
496 except NameError:
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 894
diff changeset
497 return None
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
498 savetxt('intrinsic-camera.txt', camera_matrix)
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 969
diff changeset
499 print('error: {}'.format(ret))
544
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
500 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 538
diff changeset
501
545
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
502 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
503 '''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
504 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
505 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
506 [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
507 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
508
9816fab353f3 added function to undistort image, mostly for checking camera calibration results
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 544
diff changeset
509
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
510 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
511 '''Prints the cvmat to out'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
512 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
513 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
514 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
515 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
516 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
517
932
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
518 def homographyProject(points, homography, output3D = False):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
519 '''Returns the coordinates of the points (2xN array) projected through homography'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
520 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
521 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
522
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
523 if homography is not None and homography.size>0:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
524 if output3D:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
525 outputDim = 3
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
526 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
527 outputDim = 2
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
528 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
529 prod = dot(homography, augmentedPoints)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
530 return prod[:outputDim,:]/prod[2]
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
531 elif output3D:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
532 return append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
533 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
534 return points
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
535
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
536 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
537 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
538 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
539 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
540 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
541 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
542
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
543 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
544 undistortedPoints = cv2.undistortPoints(points.T.reshape(1,points.shape[1], 2), intrinsicCameraMatrix, distortionCoefficients).reshape(-1,2)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
545 return homographyProject(undistortedPoints.T, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
546 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
547 return homographyProject(points, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
548
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
549 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
550 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
551 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
552 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
553 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
554 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
555
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
556 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
557 projected3D = homographyProject(points, homography, True)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
558 projected, jacobian = cv2.projectPoints(projected3D.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
559 return projected.reshape(-1,2).T
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
560 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
561 return homographyProject(points, homography)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
562
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
563 def newCameraProject(points, newCameraMatrix):
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
564 '''Projects points (2xN array) as if seen by camera
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
565 (or reverse by inverting the camera matrix)'''
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
566 if points.shape[0] != 2:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
567 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
568
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
569 if newCameraMatrix is not None:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
570 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
571 projected = dot(newCameraMatrix, augmentedPoints)
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
572 return projected[:2,:]
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
573 else:
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
574 return points
66f382852e61 added new projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 931
diff changeset
575
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
576 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
577 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
578 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
579 (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
580 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
581
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
582 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
583
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
584 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
585 (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
586 # 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
587 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
588 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
589 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
590 dp = p2-p1
769
dfdb2a3722cc moved import statements together
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 766
diff changeset
591 d = npsum(dp**2)
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
592 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
593 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
594 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
595 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
596 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
597 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
598 return None
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
599
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
600 if skimageAvailable:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
601 from skimage.feature import hog
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
602 from skimage import color, transform
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
603
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
604 def HOG(image, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2), blockNorm = 'L1', visualize = False, transformSqrt = False):
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
605 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
606 inputImg = transform.resize(bwImg, rescaleSize)
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
607 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt, True)
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
608 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
609 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
610 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
611 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
612 figure()
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 410
diff changeset
613 subplot(1,2,1)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
614 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
615 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
616 imshow(hogViz)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 673
diff changeset
617 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
618
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 958
diff changeset
619 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations = 9, pixelsPerCell = (8,8), blockNorm = 'L1', cellsPerBlock = (2, 2), visualize = False, transformSqrt = False):
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
620 inputData = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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621 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
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622 img = imread(imageDirectory+filename)
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
623 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt)
365
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diff changeset
624 inputData.append(features)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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625
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diff changeset
626 nImages = len(inputData)
788
5b970a5bc233 updated classifying code to OpenCV 3.x (bug in function to load classification models)
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diff changeset
627 return array(inputData, dtype = float32), array([classLabel]*nImages)
365
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diff changeset
628
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
629
807
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
630 #########################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
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631 # running tests
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
632 #########################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
633
52aa03260f03 reversed all code to OpenCV 2.4.13
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
634 if __name__ == "__main__":
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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635 import doctest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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636 import unittest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
637 suite = doctest.DocFileSuite('tests/cvutils.txt')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
638 #suite = doctest.DocTestSuite()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 799
diff changeset
639 unittest.TextTestRunner().run(suite)
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diff changeset
640 #doctest.testmod()
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parents: 799
diff changeset
641 #doctest.testfile("example.txt")