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comparison python/cvutils.py @ 928:063d1267585d

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work in progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 12 Jul 2017 01:24:31 -0400
parents dbd81710d515
children be28a3538dc9
comparison
equal deleted inserted replaced
927:c030f735c594 928:063d1267585d
255 return fps 255 return fps
256 else: 256 else:
257 print('Video capture for {} failed'.format(videoFilename)) 257 print('Video capture for {} failed'.format(videoFilename))
258 return None 258 return None
259 259
260 def imageBoxSize(obj, frameNum, homography, width, height, px = 0.2, py = 0.2): 260 def imageBoxSize(obj, frameNum, width, height, px = 0.2, py = 0.2):
261 'Computes the bounding box size of object at frameNum' 261 'Computes the bounding box size of object at frameNum'
262 x = [] 262 x = []
263 y = [] 263 y = []
264 if obj.hasFeatures(): 264 if obj.hasFeatures():
265 for f in obj.getFeatures(): 265 for f in obj.getFeatures():
266 if f.existsAtInstant(frameNum): 266 if f.existsAtInstant(frameNum):
267 projectedPosition = f.getPositionAtInstant(frameNum).project(homography) 267 projectedPosition = f.projectPositions[:, frameNum-f.getFirstInstant()]
268 x.append(projectedPosition.x) 268 x.append(projectedPosition[0])
269 y.append(projectedPosition.y) 269 y.append(projectedPosition[1])
270 xmin = min(x) 270 xmin = min(x)
271 xmax = max(x) 271 xmax = max(x)
272 ymin = min(y) 272 ymin = min(y)
273 ymax = max(y) 273 ymax = max(y)
274 xMm = px * (xmax - xmin) 274 xMm = px * (xmax - xmin)
278 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a))) 278 yCropMax = int(min(height - 1, .5 * (ymin + ymax + a)))
279 xCropMin = int(max(0, .5 * (xmin + xmax - a))) 279 xCropMin = int(max(0, .5 * (xmin + xmax - a)))
280 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a))) 280 xCropMax = int(min(width - 1, .5 * (xmin + xmax + a)))
281 return yCropMin, yCropMax, xCropMin, xCropMax 281 return yCropMin, yCropMax, xCropMin, xCropMax
282 282
283 def imageBox(img, obj, frameNum, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800): 283 def imageBox(img, obj, frameNum, width, height, px = 0.2, py = 0.2, minNPixels = 800):
284 'Computes the bounding box of object at frameNum' 284 'Computes the bounding box of object at frameNum'
285 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height, px, py) 285 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, width, height, px, py)
286 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels: 286 if yCropMax != yCropMin and xCropMax != xCropMin and (yCropMax - yCropMin) * (xCropMax - xCropMin) > minNPixels:
287 return img[yCropMin : yCropMax, xCropMin : xCropMax] 287 return img[yCropMin : yCropMax, xCropMin : xCropMax]
288 else: 288 else:
289 return None 289 return None
290 290
516 for i in xrange(cvmat.rows): 516 for i in xrange(cvmat.rows):
517 for j in xrange(cvmat.cols): 517 for j in xrange(cvmat.cols):
518 out.write('{0} '.format(cvmat[i,j])) 518 out.write('{0} '.format(cvmat[i,j]))
519 out.write('\n') 519 out.write('\n')
520 520
521 def projectArray(homography, points): 521 def projectArray(homography, points, intrinsicCameraMatrix = None, distortionCoefficients = None):
522 '''Returns the coordinates of the projected points through homography 522 '''Returns the coordinates of the projected points through homography
523 (format: array 2xN points)''' 523 (format: array 2xN points)'''
524 if points.shape[0] != 2: 524 if points.shape[0] not in [2, 3]:
525 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1])) 525 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
526 526
527 if (homography is not None) and homography.size>0: 527 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
528 #alternatively, on could use cv2.convertpointstohomogeneous and other conversion to/from homogeneous coordinates 528 if homography is not None and homography.size>0:
529 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
530 prod = dot(homography, augmentedPoints) 529 prod = dot(homography, augmentedPoints)
531 return prod[0:2]/prod[2] 530 projected = prod/prod[2]
531 projected[3,:] = 0
532 else: 532 else:
533 return points 533 projected = augmentedPoints
534
535 if intrinsicCameraMatrix is not None and distortionCoefficients is not None:
536 projected = cv2.projectPoints(projected, None, None, intrinsicCameraMatrix, distortionCoefficients)
537 return projected
534 538
535 def project(homography, p): 539 def project(homography, p):
536 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1] 540 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
537 through homography''' 541 through homography'''
538 return projectArray(homography, array([[p[0]],[p[1]]])) 542 return projectArray(homography, array([[p[0]],[p[1]]]))