repo/traffic-intelligence: python/cvutils.py annotate

annotate python/cvutils.py @ 893:ff92801e5c54

updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Tue, 30 May 2017 16:10:18 -0400
parents	1fdafa9f6bf4
children	0c1fed9e8862

rev	line source
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Image/Video utilities'''
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	3
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	4 import utils, moving
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	5
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	6 try:
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	7 import cv2
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	8 opencvAvailable = True
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	9 except ImportError:
501 c81cbd6953fb update to classify speed to remove data at both ends Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	10 print('OpenCV library could not be loaded (video replay functions will not be available)') # TODO change to logging module
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	11 opencvAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	12 try:
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	13 import skimage
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	14 skimageAvailable = True
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	15 except ImportError:
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	16 print('Scikit-image library could not be loaded (HoG-based classification methods will not be available)')
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	17 skimageAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	18
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	19 from sys import stdout, maxint
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	20 from os import listdir
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	21 from copy import deepcopy
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	22 from math import floor, log10, ceil
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	23
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	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
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	25 from matplotlib.mlab import find
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	26 from matplotlib.pyplot import imread, imsave
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	27
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	28
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	29
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	30 #import aggdraw # agg on top of PIL (antialiased drawing)
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	31
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	32
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	33 cvRed = {'default': (0,0,255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	34 'colorblind': (0,114,178)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	35 cvGreen = {'default': (0,255,0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	36 'colorblind': (0,158,115)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	37 cvBlue = {'default': (255,0,0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	38 'colorblind': (213,94,0)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	39 cvCyan = {'default': (255, 255, 0),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	40 'colorblind': (240,228,66)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	41 cvYellow = {'default': (0, 255, 255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	42 'colorblind': (86,180,233)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	43 cvMagenta = {'default': (255, 0, 255),
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	44 'colorblind': (204,121,167)}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	45 cvWhite = {k: (255, 255, 255) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	46 cvBlack = {k: (0,0,0) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	47
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	48 cvColors3 = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k]]) for k in ['default', 'colorblind']}
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	49 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']}
151 4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 150 diff changeset	50
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	51 def quitKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	52 return chr(key&255)== 'q' or chr(key&255) == 'Q'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	53
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	54 def saveKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	55 return chr(key&255) == 's'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	56
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	57 def int2FOURCC(x):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	58 fourcc = ''
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	59 for i in xrange(4):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	60 fourcc += unichr((x >> 8*i)&255)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	61 return fourcc
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	62
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	63 def plotLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	64 '''Draws lines over the image '''
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	65 import Image, ImageDraw # PIL
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	66
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	67 img = Image.open(filename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	68
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	69 draw = ImageDraw.Draw(img)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	70 #draw = aggdraw.Draw(img)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	71 #pen = aggdraw.Pen("red", width)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	72 for p1, p2 in zip(origins, destinations):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	73 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	74 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 511 diff changeset	75 del draw
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	76
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	77 #out = utils.openCheck(resultFilename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	78 img.save(resultFilename)
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	79
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	80 def rgb2gray(rgb):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	81 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	82
159 115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	83 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	84 '''Loads and converts the point correspondences saved
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	85 by the matlab camera calibration tool'''
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	86 points = loadtxt(filename, delimiter=',')
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	87 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	88
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	89 def loadPointCorrespondences(filename):
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	90 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	91 points = loadtxt(filename, dtype=float32)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	92 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	93
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	94 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	95 '''Converts an OpenCV CvMat to numpy array.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	96 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	97 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]cvmat.width]cvmat.height)
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	98 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	99 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	100 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	101 return a
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	102
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	103 def createWhiteImage(height, width, filename):
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	104 img = ones((height, width, 3), uint8)*255
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	105 imsave(filename, img)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	106
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	107 if opencvAvailable:
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	108 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
302 9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	109 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	110 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	111 return H
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	112
406 37c7b46f6e21 update to OpenCV 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 402 diff changeset	113 def arrayToCvMat(a, t = cv2.CV_64FC1):
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	114 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	115 print('Deprecated, use new interface')
152 74b1fc68d4df re-organized code to avoid cyclic python module dependencies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 151 diff changeset	116 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	117 for i in range(cvmat.rows):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	118 for j in range(cvmat.cols):
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	119 cvmat[i,j] = a[i,j]
67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	120 return cvmat
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	121
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	122 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	123 if lastCoordinate is None:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	124 last = positions.length()-1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	125 elif lastCoordinate >=0:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	126 last = min(positions.length()-1, lastCoordinate)
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	127 for i in range(0, last):
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	128 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	129
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	130 def cvImshow(windowName, img, rescale = 1.0):
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	131 'Rescales the image (in particular if too large)'
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	132 from cv2 import resize
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	133 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	134 size = (int(round(img.shape[1]rescale)), int(round(img.shape[0]rescale)))
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	135 resizedImg = resize(img, size)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	136 cv2.imshow(windowName, resizedImg)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	137 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	138 cv2.imshow(windowName, img)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	139
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	140 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	141 newImgSize = (int(round(widthundistortedImageMultiplication)), int(round(heightundistortedImageMultiplication)))
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	142 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	143 newCameraMatrix[0,2] = newImgSize[0]/2.
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	144 newCameraMatrix[1,2] = newImgSize[1]/2.
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	145 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	146
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	147 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	148 '''Plays the video(s)'''
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	149 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	150 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	151 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	152 colorType = 'default'
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	153 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	154 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	155 return
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	156 if windowNames is None:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	157 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	158 wait = 5
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	159 if rescale == 1.:
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	160 for windowName in windowNames:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	161 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	162 if frameRate > 0:
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	163 wait = int(round(1000./frameRate))
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	164 if interactive:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	165 wait = 0
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	166 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	167 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	168 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	169 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	170 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	171 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	172 for i in xrange(len(captures)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 820 diff changeset	173 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i])
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	174 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	175 rets = []
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	176 images = []
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	177 for cap in captures:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	178 ret, img = cap.read()
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	179 rets.append(ret)
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	180 images.append(img)
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	181 if array(rets).all():
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	182 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	183 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	184 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	185 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	186 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	187 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	188 key = cv2.waitKey(wait)
625 9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	189 if saveKey(key):
9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	190 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	191 nFramesShown += step
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	192 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	193 for i in xrange(len(captures)):
26daf35180ad finished modification and demo script to replay synchronized video (with same frame rate) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 820 diff changeset	194 captures.set(cv2.cv.CV_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	195 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	196 else:
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	197 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	198
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	199 def infoVideo(filename):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	200 '''Provides all available info on video '''
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	201 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	202 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	203 cv2.cv.CV_CAP_PROP_FPS: "fps",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	204 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	205 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	206 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	207 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification",
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	208 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"}
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	209 capture = cv2.VideoCapture(filename)
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	210 if capture.isOpened():
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	211 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	212 #cv2.cv.CV_CAP_PROP_CONTRAST
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	213 #cv2.cv.CV_CAP_PROP_CONVERT_RGB
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	214 #cv2.cv.CV_CAP_PROP_EXPOSURE
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	215 cv2.cv.CV_CAP_PROP_FORMAT,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	216 cv2.cv.CV_CAP_PROP_FOURCC,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	217 cv2.cv.CV_CAP_PROP_FPS,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	218 cv2.cv.CV_CAP_PROP_FRAME_COUNT,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	219 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	220 cv2.cv.CV_CAP_PROP_FRAME_WIDTH,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	221 #cv2.cv.CV_CAP_PROP_GAIN,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	222 #cv2.cv.CV_CAP_PROP_HUE
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	223 #cv2.cv.CV_CAP_PROP_MODE
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	224 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	225 #cv2.cv.CV_CAP_PROP_POS_FRAMES
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	226 #cv2.cv.CV_CAP_PROP_POS_MSEC
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	227 #cv2.cv.CV_CAP_PROP_RECTIFICATION,
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	228 #cv2.cv.CV_CAP_PROP_SATURATION
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	229 ]:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	230 prop = capture.get(cvprop)
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	231 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0:
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	232 prop = int2FOURCC(int(prop))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	233 print('Video {}: {}'.format(cvPropertyNames[cvprop], prop))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	234 else:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	235 print('Video capture for {} failed'.format(filename))
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	236
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	237 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	238 '''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	239 images = []
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	240 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	241 if capture.isOpened():
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	242 rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	243 if rawCount < 0:
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	244 rawCount = lastFrameNum+1
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	245 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	246 ret = False
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	247 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	248 frameNum = firstFrameNum
858 2faabcbde2c4 minor improvements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 821 diff changeset	249 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	250 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	251 i = 0
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	252 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	253 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	254 i += 1
799 0662c87a61c9 minor modification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 798 diff changeset	255 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	256 if saveImage:
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	257 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	258 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	259 else:
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	260 images.append(img)
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	261 frameNum +=step
5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	262 if step > 1:
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	263 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	264 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	265 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	266 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	267 return images
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	268
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	269 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	270 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	271 if capture.isOpened():
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	272 fps = capture.get(cv2.cv.CV_CAP_PROP_FPS)
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	273 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	274 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	275 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	276 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	277 return None
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	278
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	279 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	280 'Computes the bounding box of object at frameNum'
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	281 x = []
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	282 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	283 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	284 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	285 if f.existsAtInstant(frameNum):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	286 projectedPosition = f.getPositionAtInstant(frameNum).project(homography)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	287 x.append(projectedPosition.x)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 658 diff changeset	288 y.append(projectedPosition.y)
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	289 xmin = min(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	290 xmax = max(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	291 ymin = min(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	292 ymax = max(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	293 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	294 yMm = py * (ymax - ymin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	295 a = max(ymax - ymin + (2 * yMm), xmax - (xmin + 2 * xMm))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	296 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	297 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	298 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	299 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	300 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
520 fd9641cbd24b added function to classify object at instant from SVM Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	301 croppedImg = img[yCropMin : yCropMax, xCropMin : xCropMax]
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	302 else:
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	303 croppedImg = None
548 e6ab4caf359c corrected bug MohamedGomaa parents: 547 diff changeset	304 return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	305
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	306
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	307 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	308 '''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	309 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	310 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	311 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	312 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	313
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	314 capture = cv2.VideoCapture(videoFilename)
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	315 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	316 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	317
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	318 windowName = 'frame'
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	319 if rescale == 1.:
94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	320 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	321
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: # setup undistortion
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	323 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	324 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	325 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	326 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	327 frameNum = firstFrameNum
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	328 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
636 3058e00887bc removed all issues because of tests with None, using is instead of == or != Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 628 diff changeset	329 if lastFrameNumArg is None:
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	330 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	331 else:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	332 lastFrameNum = lastFrameNumArg
864 8f28b4fcf129 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 858 diff changeset	333 if nZerosFilenameArg is None:
8f28b4fcf129 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 858 diff changeset	334 nZerosFilename = int(ceil(log10(lastFrameNum)))
8f28b4fcf129 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 858 diff changeset	335 else:
8f28b4fcf129 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 858 diff changeset	336 nZerosFilename = nZerosFilenameArg
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	337 objectToDeleteIds = []
628 977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 625 diff changeset	338 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	339 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	340 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	341 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	342 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	343 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	344 print('frame {0}'.format(frameNum))
725 35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	345 if len(objectToDeleteIds) > 0:
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	346 objects = [o for o in objects if o.getNum() not in objectToDeleteIds]
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	347 objectToDeleteIds = []
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	348 # plot objects
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	349 for obj in objects:
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	350 if obj.existsAtInstant(frameNum):
725 35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	351 if obj.getLastInstant() == frameNum:
35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	352 objectToDeleteIds.append(obj.getNum())
236 eb4525853030 added script to display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 235 diff changeset	353 if not hasattr(obj, 'projectedPositions'):
636 3058e00887bc removed all issues because of tests with None, using is instead of == or != Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 628 diff changeset	354 if homography is not None:
218 b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	355 obj.projectedPositions = obj.positions.project(homography)
b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	356 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 216 diff changeset	357 obj.projectedPositions = obj.positions
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	358 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	359 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	360 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, 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	361 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	362 objDescription = '{} '.format(obj.num)
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	363 if moving.userTypeNames[obj.userType] != 'unknown':
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	364 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	365 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	366 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	367 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	368 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
725 35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	369 # 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	370 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	371 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	372 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	373 # 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	374 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	375 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	376 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	377 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	378 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	379 else:
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	380 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	381 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	382 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	383 # 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	384 if not saveAllImages:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	385 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	386 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	387 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	388 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	389 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	390 if nFramesStep > 1:
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	391 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum)
346 5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 319 diff changeset	392 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	393 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	394 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	395
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	396 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	397 '''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	398 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	399 # 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	400 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	401 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	402 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	403 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	404 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	405 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	406 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	407
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	408 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	409 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	410 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	411 to distorted (original image)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	412 map1(x,y) = originalx, originaly'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	413 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	414 disty = npabs(map2-y)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	415 indices = logical_and(distx<maxDistance, disty<maxDistance)
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	416 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	417 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	418 yWeights = 1-disty[indices]
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	419 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	420
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	421 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	422 '''test 'perfect' inversion'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	423 undistortedTrajectory = moving.Trajectory()
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	424 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	425 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	426 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	427 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	428 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	429 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	430 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	431
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	432 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	433 '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	434 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	435 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	436 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	437 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	438 res = undistortedCoordinates(x,y, map1, map2)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	439 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	440 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	441 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	442 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	443
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	444 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	445 ''' Camera calibration searches through all the images (jpg or png) located
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	446 in _path_ for matches to a checkerboard pattern of size checkboardSize.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	447 These images should all be of the same camera with the same resolution.
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	448
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	449 For best results, use an asymetric board and ensure that the image has
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	450 very high contrast, including the background. Suitable checkerboard:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	451 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	452
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	453 The code below is based off of:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	454 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	455 Modified by Paul St-Aubin
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	456 '''
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	457 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	458
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	459 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	460 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	461
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	462 # 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	463 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	464 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	465
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	466 # 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	467 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	468 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	469
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	470 ## 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	471 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	472 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	473 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	474 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	475
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	476 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	477 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	478
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	479 # 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	480 if ret:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	481 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	482
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	483 if secondPassSearch:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	484 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	485
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	486 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	487 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	488
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	489 # Draw and display the corners
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	490 if display:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	491 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	492 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	493 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	494 cv2.waitKey(0)
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	495 else:
b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	496 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	497 ## 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	498 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	499 if len(objpoints) == 0 or len(imgpoints) == 0:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	500 return False
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	501 try:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	502 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	503 except NameError:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	504 return False
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	505 savetxt('intrinsic-camera.txt', camera_matrix)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	506 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	507
545 9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	508 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	509 '''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	510 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	511 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	512 [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	513 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	514
9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	515
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	516 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	517 '''Prints the cvmat to out'''
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	518 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	519 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	520 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	521 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	522 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	523
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	524 def projectArray(homography, points):
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	525 '''Returns the coordinates of the projected points through homography
6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	526 (format: array 2xN points)'''
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	527 if points.shape[0] != 2:
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	528 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	529
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	530 if (homography is not None) and homography.size>0:
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	531 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	532 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	533 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	534 return prod[0:2]/prod[2]
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	535 else:
547 97c5fef5b2d6 corrected bugs MohamedGomaa parents: 538 diff changeset	536 return points
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	537
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	538 def project(homography, p):
319 6b65b26c1e46 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 315 diff changeset	539 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	540 through homography'''
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 236 diff changeset	541 return projectArray(homography, array([[p[0]],[p[1]]]))
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	542
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	543 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	544 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	545 [[x1, x2, ...],
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	546 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 63 diff changeset	547 return projectArray(homography, array(trajectory))
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: diff changeset	548
48 8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	549 def invertHomography(homography):
384 6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	550 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	551 Unnecessary for reprojection over camera image'''
673 5505f9dbb28e corrected import bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 672 diff changeset	552 from numpy.linalg import inv
48 8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	553 invH = inv(homography)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	554 invH /= invH[2,2]
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	555 return invH
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 44 diff changeset	556
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	557 def undistortTrajectory(invMap1, invMap2, positions):
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	558 floorPositions = npfloor(positions)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	559 #ceilPositions = npceil(positions)
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	560 undistortedTrajectory = [[],[]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	561 for i in xrange(len(positions[0])):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	562 x,y = None, None
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	563 if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	564 floorX = invMap1[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	565 floorY = invMap2[floorPositions[1][i], floorPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	566 ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	567 ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	568 #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	569 #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]]
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	570 if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0:
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	571 x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	572 y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	573 undistortedTrajectory[0].append(x)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	574 undistortedTrajectory[1].append(y)
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	575 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	576
491 343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	577 def projectGInputPoints(homography, points):
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	578 return projectTrajectory(homography, array(points+[points[0]]).T)
343cfd185ca6 minor changes and reaarrangements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 482 diff changeset	579
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	580 if opencvAvailable:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	581 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	582 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	583 (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	584 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	585
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	586 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	587
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	588 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	589 (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	590 # 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	591 delta = []
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	592 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	593 if status[k] == 1:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	594 dp = p2-p1
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	595 d = npsum(dp**2)
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	596 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	597 delta.append(dp)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	598 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	599 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	600 else:
156 2eef5620c0b3 added key values for opencv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	601 print(dp)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	602 return None
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	603
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	604 if skimageAvailable:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	605 from skimage.feature import hog
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	606 from skimage import color, transform
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	607
893 ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 868 diff changeset	608 def HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8,8), cellsPerBlock=(2,2), blockNorm='L1', visualize=False, normalize=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	609 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	610 inputImg = transform.resize(bwImg, rescaleSize)
893 ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 868 diff changeset	611 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	612 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	613 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	614 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	615 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	616 figure()
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	617 subplot(1,2,1)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	618 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	619 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	620 imshow(hogViz)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	621 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	622
893 ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 868 diff changeset	623 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations=9, pixelsPerCell=(8,8), blockNorm='L1', cellsPerBlock=(2, 2), visualize=False, normalize=False):
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	624 inputData = []
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	625 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	626 img = imread(imageDirectory+filename)
893 ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 868 diff changeset	627 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, normalize)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	628 inputData.append(features)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	629
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	630 nImages = len(inputData)
788 5b970a5bc233 updated classifying code to OpenCV 3.x (bug in function to load classification models) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 774 diff changeset	631 return array(inputData, dtype = float32), array([classLabel]*nImages)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	632
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	633
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	634 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	635 # running tests
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	636 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	637
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	638 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	639 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	640 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	641 suite = doctest.DocFileSuite('tests/cvutils.txt')
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	642 #suite = doctest.DocTestSuite()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	643 unittest.TextTestRunner().run(suite)
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	644 #doctest.testmod()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	645 #doctest.testfile("example.txt")

Mercurial Hosting > traffic-intelligence

annotate python/cvutils.py @ 893:ff92801e5c54