Mercurial Hosting > traffic-intelligence

comparison python/cvutils.py @ 933:8ac7f61c6e4f

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
major rework of homography calibration, no in ideal points if correcting for distortion
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jul 2017 02:11:21 -0400
parents 66f382852e61
children 0e63a918a1ca
comparison
equal deleted inserted replaced
932:66f382852e61 933:8ac7f61c6e4f
122 cv2.imshow(windowName, img) 122 cv2.imshow(windowName, img)
123 123
124 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients): 124 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
125 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication))) 125 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
126 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True) 126 newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
127 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1) 127 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1), newCameraMatrix
128 128
129 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False): 129 def playVideo(filenames, windowNames = None, firstFrameNums = None, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1., step = 1, colorBlind = False):
130 '''Plays the video(s)''' 130 '''Plays the video(s)'''
131 if colorBlind: 131 if colorBlind:
132 colorType = 'colorblind' 132 colorType = 'colorblind'
303 windowName = 'frame' 303 windowName = 'frame'
304 if rescale == 1.: 304 if rescale == 1.:
305 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) 305 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
306 306
307 if undistort: # setup undistortion 307 if undistort: # setup undistortion
308 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) 308 [map1, map2], newCameraMatrix = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
309 if capture.isOpened(): 309 if capture.isOpened():
310 key = -1 310 key = -1
311 ret = True 311 ret = True
312 frameNum = firstFrameNum 312 frameNum = firstFrameNum
313 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) 313 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
328 print('frame {0}'.format(frameNum)) 328 print('frame {0}'.format(frameNum))
329 # plot objects 329 # plot objects
330 for obj in objects: 330 for obj in objects:
331 if obj.existsAtInstant(frameNum): 331 if obj.existsAtInstant(frameNum):
332 if not hasattr(obj, 'projectedPositions'): 332 if not hasattr(obj, 'projectedPositions'):
333 if homography is not None: 333 obj.projectedPositions = obj.getPositions().homographyProject(homography)
334 obj.projectedPositions = obj.positions.project(homography) 334 if undistort:
335 else: 335 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
336 obj.projectedPositions = obj.positions 336 #obj.projectedPositions = obj.positions
337 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant()) 337 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
338 if frameNum not in boundingBoxes.keys() and obj.hasFeatures(): 338 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
339 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height) 339 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
340 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1) 340 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
341 objDescription = '{} '.format(obj.num) 341 objDescription = '{} '.format(obj.num)