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

annotate trafficintelligence/cvutils.py @ 1278:8e61ff3cd503 default tip

correct bug to take into account first frame num in config, and other related bugs in dltrack.py

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Thu, 27 Jun 2024 15:31:36 -0400
parents	ef68d4ba7dae
children

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
1029 c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	4 from sys import stdout
c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	5 from os import listdir
c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	6 from subprocess import run
1245 371c718e57d7 interface updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1242 diff changeset	7 from math import floor, log10, ceil, inf
1029 c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	8 from time import time
c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	9
1168 d71a4d174b1a corrected potential bug with dtype in image to world projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1158 diff changeset	10 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, nonzero, dtype
1029 c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	11 from numpy.linalg import inv
c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	12 from matplotlib.pyplot import imread, imsave, imshow, figure, subplot
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	13
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	14 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	15 import cv2
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	16 opencvAvailable = True
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	17 except ImportError:
501 c81cbd6953fb update to classify speed to remove data at both ends Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	18 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	19 opencvAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	20 try:
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	21 import skimage
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	22 skimageAvailable = True
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	23 except ImportError:
410 91954c76d12c minor changes to error messages when loading libraries Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 406 diff changeset	24 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	25 skimageAvailable = False
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	26
1029 c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	27 from trafficintelligence import utils, moving
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	28
969 5d788d2e8ffc work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 967 diff changeset	29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	30 trackerExe = 'feature-based-tracking'
981 c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	31 #importaggdraw # 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	32
1253 ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1245 diff changeset	33 colors = 'rgbcymk'
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	34 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	35 '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	36 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	37 '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	38 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	39 '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	40 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	41 '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	42 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	43 '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	44 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	45 '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	46 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	47 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	48
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	49 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	50 cvColors = {k: utils.PlottingPropertyValues([cvRed[k], cvGreen[k], cvBlue[k], cvCyan[k], cvYellow[k], cvMagenta[k], cvWhite[k], cvBlack[k]]) for k in ['default', 'colorblind']}
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	51
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	52 def quitKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	53 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	54
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	55 def saveKey(key):
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	56 return chr(key&255) == 's'
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	57
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	58 def int2FOURCC(x):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	59 fourcc = ''
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	60 for i in range(4):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	61 fourcc += chr((x >> 8*i)&255)
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	62 return fourcc
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	63
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	64 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	65 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	66
159 115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	67 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 156 diff changeset	68 '''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	69 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	70 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	71 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	72
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	73 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	74 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
1168 d71a4d174b1a corrected potential bug with dtype in image to world projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1158 diff changeset	75 points = loadtxt(filename, dtype=dtype('float32'))
160 b0719b3ad3db created function to load point correspondences and updates scripts that use it Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 159 diff changeset	76 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	77
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	78 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	79 '''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	80 print('Deprecated, use new interface')
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]cvmat.width]cvmat.height)
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	82 for i in range(cvmat.rows):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	83 for j in range(cvmat.cols):
99 e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	84 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	85 return a
e7dc5a780f09 added conversion functions and homography computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 98 diff changeset	86
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	87 def createWhiteImage(height, width, filename):
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	88 img = ones((height, width, 3), uint8)*255
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	89 imsave(filename, img)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	90
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	91 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	92 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	93 '''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	94 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	95 return H
9d88a4d97473 corrected bug in compute-homography Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	96
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	97 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	98 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	99 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	100 elif lastCoordinate >=0:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	101 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	102 for i in range(0, last):
658 6668f541b915 Added *kwargs passthrough to cvPlot()->cv2.line() for greater drawing flexibility. pstaub* parents: 657 diff changeset	103 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	104
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	105 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	106 '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	107 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	108 size = (int(round(img.shape[1]rescale)), int(round(img.shape[0]rescale)))
1029 c6cf75a2ed08 reorganization of imports Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1028 diff changeset	109 resizedImg = cv2.resize(img, size)
385 1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	110 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	111 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 384 diff changeset	112 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	113
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	114 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	115 newImgSize = (int(round(widthundistortedImageMultiplication)), int(round(heightundistortedImageMultiplication)))
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 904 diff changeset	116 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	117 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
510 b0dac840c24f compute homography works with undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	118
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	119 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	120 '''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	121 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	122 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	123 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	124 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	125 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	126 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	127 return
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	128 if windowNames is None:
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	129 windowNames = ['frame{}'.format(i) for i in range(len(filenames))]
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	130 wait = 5
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	131 if rescale == 1.:
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	132 for windowName in windowNames:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	133 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	134 if frameRate > 0:
ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	135 wait = int(round(1000./frameRate))
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	136 if interactive:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	137 wait = 0
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	138 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	139 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	140 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	141 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	142 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	143 if firstFrameNums is not None:
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	144 for i in range(len(captures)):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	145 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i])
305 ca9131968bce added sample to replay video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 303 diff changeset	146 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	147 rets = []
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	148 images = []
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	149 for cap in captures:
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	150 ret, img = cap.read()
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	151 rets.append(ret)
e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	152 images.append(img)
958 747a5c68bd3c minor improvement and bug correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 950 diff changeset	153 ret = array(rets).all()
747a5c68bd3c minor improvement and bug correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 950 diff changeset	154 if ret:
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	155 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	156 print('frame shown {0}'.format(nFramesShown))
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	157 for i in range(len(filenames)):
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	158 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	159 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	160 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	161 key = cv2.waitKey(wait)
625 9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	162 if saveKey(key):
9202628a4130 saving image when playing video Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	163 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	164 nFramesShown += step
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	165 if step > 1:
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	166 for i in range(len(captures)):
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	167 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
346 5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 319 diff changeset	168 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	169 else:
820 e73e7b644428 generalized play-video for several files (already synchronized Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 807 diff changeset	170 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	171
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	172 def infoVideo(filename):
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	173 '''Provides all available info on video '''
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	174 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	175 cv2.CAP_PROP_FOURCC: "codec (fourcc)",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	176 cv2.CAP_PROP_FPS: "fps",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	177 cv2.CAP_PROP_FRAME_COUNT: "number of frames",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	178 cv2.CAP_PROP_FRAME_HEIGHT: "heigh",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	179 cv2.CAP_PROP_FRAME_WIDTH: "width",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	180 cv2.CAP_PROP_RECTIFICATION: "rectification",
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	181 cv2.CAP_PROP_SATURATION: "saturation"}
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	182 capture = cv2.VideoCapture(filename)
967 373e8ef6ee25 modified function to access video property Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 959 diff changeset	183 videoProperties = {}
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	184 if capture.isOpened():
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	185 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	186 #cv2.CAP_PROP_CONTRAST
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	187 #cv2.CAP_PROP_CONVERT_RGB
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	188 #cv2.CAP_PROP_EXPOSURE
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	189 cv2.CAP_PROP_FORMAT,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	190 cv2.CAP_PROP_FOURCC,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	191 cv2.CAP_PROP_FPS,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	192 cv2.CAP_PROP_FRAME_COUNT,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	193 cv2.CAP_PROP_FRAME_HEIGHT,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	194 cv2.CAP_PROP_FRAME_WIDTH,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	195 #cv2.CAP_PROP_GAIN,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	196 #cv2.CAP_PROP_HUE
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	197 #cv2.CAP_PROP_MODE
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	198 #cv2.CAP_PROP_POS_AVI_RATIO
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	199 #cv2.CAP_PROP_POS_FRAMES
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	200 #cv2.CAP_PROP_POS_MSEC
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	201 #cv2.CAP_PROP_RECTIFICATION,
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	202 #cv2.CAP_PROP_SATURATION
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	203 ]:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	204 prop = capture.get(cvprop)
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	205 if cvprop == cv2.CAP_PROP_FOURCC and prop > 0:
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	206 prop = int2FOURCC(int(prop))
967 373e8ef6ee25 modified function to access video property Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 959 diff changeset	207 videoProperties[cvPropertyNames[cvprop]] = prop
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	208 else:
51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	209 print('Video capture for {} failed'.format(filename))
967 373e8ef6ee25 modified function to access video property Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 959 diff changeset	210 return videoProperties
657 51269511229b added script printing video info Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 639 diff changeset	211
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	212 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	213 '''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	214 images = []
396 167f6ec44ec5 cleaned function to save images Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 393 diff changeset	215 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	216 if capture.isOpened():
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	217 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	218 if rawCount < 0:
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	219 rawCount = lastFrameNum+1
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	220 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	221 ret = False
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	222 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	223 frameNum = firstFrameNum
858 2faabcbde2c4 minor improvements Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 821 diff changeset	224 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	225 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	226 i = 0
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	227 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	228 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	229 i += 1
799 0662c87a61c9 minor modification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 798 diff changeset	230 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	231 if saveImage:
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	232 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	233 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	234 else:
51acf43e421a modified the function to read and save images from a movie Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 204 diff changeset	235 images.append(img)
798 5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	236 frameNum +=step
5b99b676265e modified to get images very time step Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 788 diff changeset	237 if step > 1:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	238 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	239 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	240 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	241 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	242 return images
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	243
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	244 def getFPS(videoFilename):
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	245 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	246 if capture.isOpened():
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	247 fps = capture.get(cv2.CAP_PROP_FPS)
398 3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	248 capture.release()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	249 return fps
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 396 diff changeset	250 else:
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	251 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	252 return None
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	253
928 063d1267585d work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	254 def imageBoxSize(obj, frameNum, width, height, px = 0.2, py = 0.2):
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	255 'Computes the bounding box size of object at frameNum'
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	256 x = []
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	257 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	258 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	259 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	260 if f.existsAtInstant(frameNum):
929 be28a3538dc9 work in progress on projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 928 diff changeset	261 p = f.getPositionAtInstant(frameNum)
be28a3538dc9 work in progress on projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 928 diff changeset	262 x.append(p.x)
be28a3538dc9 work in progress on projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 928 diff changeset	263 y.append(p.y)
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	264 xmin = min(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	265 xmax = max(x)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	266 ymin = min(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	267 ymax = max(y)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	268 xMm = px * (xmax - xmin)
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	269 yMm = py * (ymax - ymin)
1125 b358bed29ab4 updates and bugs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1112 diff changeset	270 a = max(ymax - ymin + (2 * yMm), xmax - xmin + (2 * xMm))
416 8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	271 yCropMin = int(max(0, .5 * (ymin + ymax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	272 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	273 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
8fdbc13dad8b cleaned imagebox code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	274 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	275 return yCropMin, yCropMax, xCropMin, xCropMax
8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	276
928 063d1267585d work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	277 def imageBox(img, obj, frameNum, width, height, px = 0.2, py = 0.2, minNPixels = 800):
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	278 'Computes the bounding box of object at frameNum'
928 063d1267585d work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	279 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, width, height, px, py)
1125 b358bed29ab4 updates and bugs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1112 diff changeset	280 if yCropMax > yCropMin and xCropMax > xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	281 return img[yCropMin : yCropMax, xCropMin : xCropMax]
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	282 else:
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	283 return None
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	284
1004 75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	285 def tracking(configFilename, grouping, videoFilename = None, dbFilename = None, homographyFilename = None, maskFilename = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, dryRun = False):
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	286 '''Runs the tracker in a subprocess
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	287 if grouping is True, it is feature grouping
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	288 otherwise it is feature tracking'''
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	289 if grouping:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	290 trackingMode = '--gf'
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	291 else:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	292 trackingMode = '--tf'
1021 16932cefabc1 work on paths in line with new configurations from tracker Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1008 diff changeset	293 cmd = [trackerExe, configFilename, trackingMode, '--quiet']
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	294
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	295 if videoFilename is not None:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	296 cmd += ['--video-filename', videoFilename]
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	297 if dbFilename is not None:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	298 cmd += ['--database-filename', dbFilename]
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	299 if homographyFilename is not None:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	300 cmd += ['--homography-filename', homographyFilename]
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	301 if maskFilename is not None:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	302 cmd += ['--mask-filename', maskFilename]
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	303 if undistort:
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	304 cmd += ['--undistort', 'true']
75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	305 if intrinsicCameraMatrix is not None: # we currently have to save a file
1004 75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	306 intrinsicCameraFilename = '/tmp/intrinsic-{}.txt'.format(time())
75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	307 savetxt(intrinsicCameraFilename, intrinsicCameraMatrix)
75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	308 cmd += ['--intrinsic-camera-filename', intrinsicCameraFilename]
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	309 if distortionCoefficients is not None:
1008 a5f2309bb1ff solved issue with subprocess Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1007 diff changeset	310 cmd += ['--distortion-coefficients '+' '.join([str(x) for x in distortionCoefficients])]
1004 75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	311 if dryRun:
75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	312 print(cmd)
75601be6019f work on process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1003 diff changeset	313 else:
1007 192de96e5255 solved config filename bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1005 diff changeset	314 run(cmd)
1003 75af46516b2b work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 998 diff changeset	315
1245 371c718e57d7 interface updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1242 diff changeset	316 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNum = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, nZerosFilenameArg = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., annotations = [], gtMatches = {}, toMatches = {}, colorBlind = False, **kwargs):
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	317 '''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	318 if colorBlind:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	319 colorType = 'colorblind'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	320 else:
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	321 colorType = 'default'
1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	322
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	323 capture = cv2.VideoCapture(videoFilename)
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	324 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	325 height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 491 diff changeset	326
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	327 windowName = 'frame'
685 94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	328 if rescale == 1.:
94b291a5f933 several updates for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	329 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	330
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	331 if undistort: # setup undistortion
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	332 [map1, map2], newCameraMatrix = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	333 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	334 key = -1
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	335 ret = True
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 226 diff changeset	336 frameNum = firstFrameNum
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	337 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
989 132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	338 if nZerosFilenameArg is None:
1245 371c718e57d7 interface updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1242 diff changeset	339 if lastFrameNum is None or lastFrameNum == inf:
989 132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	340 nZerosFilename = int(ceil(log10(objects[-1].getLastInstant())))
981 c3e690c5536e corrected bug in display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 978 diff changeset	341 else:
989 132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	342 nZerosFilename = int(ceil(log10(lastFrameNum)))
132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	343 else:
132d84ce9f0c bug corrected Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 981 diff changeset	344 nZerosFilename = nZerosFilenameArg
628 977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 625 diff changeset	345 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	346 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	347 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	348 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	349 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	350 if printFrames:
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 365 diff changeset	351 print('frame {0}'.format(frameNum))
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	352 # plot objects
947 053484e08947 found a more elegant solution, making a copy of the list to iterate Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 946 diff changeset	353 for obj in objects[:]:
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 171 diff changeset	354 if obj.existsAtInstant(frameNum):
236 eb4525853030 added script to display trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 235 diff changeset	355 if not hasattr(obj, 'projectedPositions'):
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	356 obj.projectedPositions = obj.getPositions().homographyProject(homography)
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	357 if undistort:
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 932 diff changeset	358 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
1158 7eb972942f22 solving bug to pass kwargs for plotting Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1125 diff changeset	359 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant(), **kwargs)
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	360 if frameNum not in boundingBoxes and obj.hasFeatures():
904 8f60ecfc2f06 work in progress, almost ready Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 903 diff changeset	361 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	362 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	363 objDescription = '{} '.format(obj.num)
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	364 if moving.userTypeNames[obj.userType] != 'unknown':
1242 4cd8ace3552f major update for classification, allowing the use of neural network classification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1205 diff changeset	365 s = moving.userTypeNames[obj.userType]
4cd8ace3552f major update for classification, allowing the use of neural network classification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1205 diff changeset	366 objDescription += s[0].upper()+s[1]
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 725 diff changeset	367 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	368 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	369 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	370 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
947 053484e08947 found a more elegant solution, making a copy of the list to iterate Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 946 diff changeset	371 if obj.getLastInstant() == frameNum:
053484e08947 found a more elegant solution, making a copy of the list to iterate Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 946 diff changeset	372 objects.remove(obj)
725 35bc5e30a53f slight reorganization of display-trajectories (more efficient filtering of list of objects for long sequences) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	373 # plot object bounding boxes
998 933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 993 diff changeset	374 if frameNum in boundingBoxes:
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	375 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	376 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	377 # 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	378 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	379 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	380 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	381 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	382 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	383 else:
868 1fdafa9f6bf4 added colors more friendly for color blind people (thanks Ryan Louie!) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 864 diff changeset	384 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	385 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	386 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	387 # 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	388 if not saveAllImages:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	389 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	390 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	391 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	392 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	393 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	394 if nFramesStep > 1:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	395 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
346 5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 319 diff changeset	396 cv2.destroyAllWindows()
435 17185fe77316 added error messages if video not opened Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 429 diff changeset	397 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	398 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	399
639 4e7925cb4f8f modified tsai camera homography computation to avoid using os dependent temporary files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 638 diff changeset	400 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	401 '''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	402 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	403 # 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	404 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	405 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	406 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	407 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	408 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	409 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	410 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	411
895 739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	412 def getIntrinsicCameraMatrix(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	413 return array([[cameraData['f']*cameraData['Sx']/cameraData['dx'], 0, cameraData['Cx']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	414 [0, cameraData['f']/cameraData['dy'], cameraData['Cy']],
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	415 [0, 0, 1.]])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	416
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	417 def getDistortionCoefficients(cameraData):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	418 return array([cameraData['k']]+4*[0])
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	419
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	420 def undistortedCoordinates(map1, map2, x, y, maxDistance = 1.):
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	421 '''Returns the coordinates of a point in undistorted image
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	422 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	423 to distorted (original image)
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	424 map1(x,y) = originalx, originaly'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	425 distx = npabs(map1-x)
dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	426 disty = npabs(map2-y)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	427 indices = logical_and(distx<maxDistance, disty<maxDistance)
1112 956a66096e91 removed code now available in simulation project, and issue with deprecated find function in matplotlib Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1029 diff changeset	428 closeCoordinates = unravel_index(nonzero(indices), distx.shape) # returns i,j, ie y,x
468 5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	429 xWeights = 1-distx[indices]
5304299e53a5 added coordinate undistortion function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 435 diff changeset	430 yWeights = 1-disty[indices]
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	431 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	432
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	433 def undistortTrajectoryFromCVMapping(map1, map2, t):
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	434 '''test 'perfect' inversion'''
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	435 undistortedTrajectory = moving.Trajectory()
474 59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	436 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	437 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	438 if not isnan(res).any():
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	439 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	440 else:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	441 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	442 return undistortedTrajectory
59903d14d244 added functions to undistort trajectories from inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 473 diff changeset	443
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	444 def computeInverseMapping(originalImageSize, map1, map2):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	445 '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	446 invMap1 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	447 invMap2 = -ones(originalImageSize)
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	448 for x in range(0,originalImageSize[1]):
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	449 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	450 res = undistortedCoordinates(x,y, map1, map2)
472 a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	451 if not isnan(res).any():
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	452 invMap1[y,x] = res[0]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	453 invMap2[y,x] = res[1]
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	454 return invMap1, invMap2
a50c026fdf14 functions to compute inverse mapping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 468 diff changeset	455
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	456 def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True):
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	457 ''' Camera calibration searches through all the images (jpg or png) located
897 f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	458 in _path_ for matches to a checkerboard pattern of size checkboardSize.
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	459 These images should all be of the same camera with the same resolution.
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	460
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	461 For best results, use an asymetric board and ensure that the image has
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	462 very high contrast, including the background.
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	463
897 f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	464 cherckerBoardSize is the number of internal corners (7x10 squares have 6x9 internal corners)
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	465
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	466 The code below is based off of:
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	467 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	468 Modified by Paul St-Aubin
f5a49b603e8b minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 895 diff changeset	469 '''
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	470 import glob, os
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	471
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	472 # termination criteria
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	473 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	474
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	475 # 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	476 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	477 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	478
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	479 # 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	480 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	481 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	482
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	483 ## 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	484 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	485 for fname in images:
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	486 img = cv2.imread(fname)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	487 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	488
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	489 # Find the chess board corners
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	490 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	491
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	492 # 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	493 if ret:
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	494 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	495
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	496 if secondPassSearch:
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	497 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	498
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	499 objpoints.append(objp)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	500 imgpoints.append(corners)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	501
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	502 # Draw and display the corners
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	503 if display:
950 c03d2c0a4c04 corrected bugs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 947 diff changeset	504 cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
772 e92a96f2bdd3 minor bug corrections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 769 diff changeset	505 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	506 cv2.imshow('img',img)
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	507 cv2.waitKey(0)
774 b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	508 else:
b6d3bf350789 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 772 diff changeset	509 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	510 ## 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	511 cv2.destroyAllWindows()
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	512 if len(objpoints) == 0 or len(imgpoints) == 0:
895 739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	513 return None
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	514 try:
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	515 flags = 0
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	516 if fixK2:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	517 flags += cv2.CALIB_FIX_K2
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	518 if fixK3:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	519 flags += cv2.CALIB_FIX_K3
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	520 if zeroTangent:
993 e8eabef7857c update to OpenCV3 for python Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 989 diff changeset	521 flags += cv2.CALIB_ZERO_TANGENT_DIST
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	522 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	523 except NameError:
895 739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 894 diff changeset	524 return None
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	525 savetxt('intrinsic-camera.txt', camera_matrix)
978 184f1dd307f9 corrected print and exception statements for Python 3 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 969 diff changeset	526 print('error: {}'.format(ret))
544 749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	527 return camera_matrix, dist_coeffs
749672171789 added function to calibrate a camera intrinsic parameters Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 538 diff changeset	528
545 9816fab353f3 added function to undistort image, mostly for checking camera calibration results Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 544 diff changeset	529 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	530 '''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	531 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	532 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	533 [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	534 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	535
1205 3905b393ade0 kitti loading code seems to be working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1174 diff changeset	536 def cartesian2Homogeneous(m):
3905b393ade0 kitti loading code seems to be working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1174 diff changeset	537 'Transforms n x m matrix to n x (m+1) by adding last column of 1s'
1253 ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1245 diff changeset	538 if len(m.shape) == 2:
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1245 diff changeset	539 homoM = ones((m.shape[0], m.shape[1]+1))
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1245 diff changeset	540 else:
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1245 diff changeset	541 homoM = ones((1, len(m)+1))
1205 3905b393ade0 kitti loading code seems to be working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1174 diff changeset	542 homoM[:,:-1] = m
3905b393ade0 kitti loading code seems to be working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1174 diff changeset	543 return homoM
3905b393ade0 kitti loading code seems to be working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1174 diff changeset	544
932 66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	545 def homographyProject(points, homography, output3D = False):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	546 '''Returns the coordinates of the points (2xN array) projected through homography'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	547 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	548 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	549
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	550 if homography is not None and homography.size>0:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	551 if output3D:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	552 outputDim = 3
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	553 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	554 outputDim = 2
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	555 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	556 prod = dot(homography, augmentedPoints)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	557 return prod[:outputDim,:]/prod[2]
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	558 elif output3D:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	559 return append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	560 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	561 return points
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	562
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	563 def imageToWorldProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	564 '''Projects points (2xN array) from image (video) space to world space
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	565 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	566 2. through homograph projection (from ideal point (no camera) to world)'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	567 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	568 raise Exception('points of dimension {}'.format(points.shape))
1168 d71a4d174b1a corrected potential bug with dtype in image to world projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1158 diff changeset	569 if points.dtype != dtype('float64'):
d71a4d174b1a corrected potential bug with dtype in image to world projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1158 diff changeset	570 points = array(points, dtype = dtype('float64'))
d71a4d174b1a corrected potential bug with dtype in image to world projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1158 diff changeset	571
932 66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	572 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	573 undistortedPoints = cv2.undistortPoints(points.T.reshape(1,points.shape[1], 2), intrinsicCameraMatrix, distortionCoefficients).reshape(-1,2)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	574 return homographyProject(undistortedPoints.T, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	575 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	576 return homographyProject(points, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	577
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	578 def worldToImageProject(points, intrinsicCameraMatrix = None, distortionCoefficients = None, homography = None):
1174 2f89dc3d99e5 clarification of worldToImageProject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1168 diff changeset	579 '''Projects points (2xN array) from world space to image (video) space
932 66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	580 1. through undistorting if provided by intrinsic camera matrix and distortion coefficients
1174 2f89dc3d99e5 clarification of worldToImageProject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1168 diff changeset	581 2. through homograph projection (from ideal point (no camera) to world)
2f89dc3d99e5 clarification of worldToImageProject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1168 diff changeset	582
2f89dc3d99e5 clarification of worldToImageProject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1168 diff changeset	583 Warning: this usually means to invert the homography if computer from image (ideal point) to world space, eg using numpy.linalg.inv'''
932 66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	584 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	585 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	586
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	587 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	588 projected3D = homographyProject(points, homography, True)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	589 projected, jacobian = cv2.projectPoints(projected3D.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	590 return projected.reshape(-1,2).T
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	591 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	592 return homographyProject(points, homography)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	593
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	594 def newCameraProject(points, newCameraMatrix):
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	595 '''Projects points (2xN array) as if seen by camera
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	596 (or reverse by inverting the camera matrix)'''
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	597 if points.shape[0] != 2:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	598 raise Exception('points of dimension {}'.format(points.shape))
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	599
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	600 if newCameraMatrix is not None:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	601 augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	602 projected = dot(newCameraMatrix, augmentedPoints)
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	603 return projected[:2,:]
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	604 else:
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	605 return points
66f382852e61 added new projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 931 diff changeset	606
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	607 if opencvAvailable:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	608 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	609 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	610 (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	611 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	612
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	613 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	614
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	615 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	616 (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	617 # 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	618 delta = []
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	619 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	620 if status[k] == 1:
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	621 dp = p2-p1
769 dfdb2a3722cc moved import statements together Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 766 diff changeset	622 d = npsum(dp**2)
154 668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	623 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	624 delta.append(dp)
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	625 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	626 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	627 else:
156 2eef5620c0b3 added key values for opencv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	628 print(dp)
112 67555e968b5e added tests if OpenCV python libraries are not available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 102 diff changeset	629 return None
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	630
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	631 if skimageAvailable:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	632 from skimage.feature import hog
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	633 from skimage import color, transform
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	634
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	635 def HOG(image, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2), blockNorm = 'L1', visualize = False, transformSqrt = False):
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	636 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	637 inputImg = transform.resize(bwImg, rescaleSize)
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	638 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt, True)
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	639 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	640 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	641 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	642 figure()
31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 410 diff changeset	643 subplot(1,2,1)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	644 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	645 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	646 imshow(hogViz)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 673 diff changeset	647 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	648
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	649 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64,64), orientations = 9, pixelsPerCell = (8,8), blockNorm = 'L1', cellsPerBlock = (2, 2), visualize = False, transformSqrt = False):
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	650 inputData = []
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	651 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	652 img = imread(imageDirectory+filename)
959 4f32d82ca390 corrected error due to change in Hog (scikit image) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 958 diff changeset	653 features = HOG(img, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm, visualize, transformSqrt)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	654 inputData.append(features)
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	655
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	656 nImages = len(inputData)
1168 d71a4d174b1a corrected potential bug with dtype in image to world projection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 1158 diff changeset	657 return array(inputData, dtype = dtype('float32')), array([classLabel]*nImages)
365 22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	658
22ddb8f85495 added function to create HOG training set Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 346 diff changeset	659
807 52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	660 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	661 # running tests
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	662 #########################
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	663
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	664 if __name__ == "__main__":
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	665 import doctest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	666 import unittest
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	667 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	668 #suite = doctest.DocTestSuite()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	669 unittest.TextTestRunner().run(suite)
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	670 #doctest.testmod()
52aa03260f03 reversed all code to OpenCV 2.4.13 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 799 diff changeset	671 #doctest.testfile("example.txt")

Mercurial Hosting > traffic-intelligence

annotate trafficintelligence/cvutils.py @ 1278:8e61ff3cd503 default tip