Mercurial Hosting > traffic-intelligence

comparison python/cvutils.py @ 998:933670761a57

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 27 May 2018 23:22:48 -0400
parents e8eabef7857c
children 75af46516b2b
comparison
equal deleted inserted replaced
997:4f3387a242a1 998:933670761a57
55 def saveKey(key): 55 def saveKey(key):
56 return chr(key&255) == 's' 56 return chr(key&255) == 's'
57 57
58 def int2FOURCC(x): 58 def int2FOURCC(x):
59 fourcc = '' 59 fourcc = ''
60 for i in xrange(4): 60 for i in range(4):
61 fourcc += unichr((x >> 8*i)&255) 61 fourcc += chr((x >> 8*i)&255)
62 return fourcc 62 return fourcc
63 63
64 def rgb2gray(rgb): 64 def rgb2gray(rgb):
65 return dot(rgb[...,:3], [0.299, 0.587, 0.144]) 65 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
66 66
77 77
78 def cvMatToArray(cvmat): 78 def cvMatToArray(cvmat):
79 '''Converts an OpenCV CvMat to numpy array.''' 79 '''Converts an OpenCV CvMat to numpy array.'''
80 print('Deprecated, use new interface') 80 print('Deprecated, use new interface')
81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height) 81 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
82 for i in xrange(cvmat.rows): 82 for i in range(cvmat.rows):
83 for j in xrange(cvmat.cols): 83 for j in range(cvmat.cols):
84 a[i,j] = cvmat[i,j] 84 a[i,j] = cvmat[i,j]
85 return a 85 return a
86 86
87 def createWhiteImage(height, width, filename): 87 def createWhiteImage(height, width, filename):
88 img = ones((height, width, 3), uint8)*255 88 img = ones((height, width, 3), uint8)*255
125 colorType = 'default' 125 colorType = 'default'
126 if len(filenames) == 0: 126 if len(filenames) == 0:
127 print('Empty filename list') 127 print('Empty filename list')
128 return 128 return
129 if windowNames is None: 129 if windowNames is None:
130 windowNames = ['frame{}'.format(i) for i in xrange(len(filenames))] 130 windowNames = ['frame{}'.format(i) for i in range(len(filenames))]
131 wait = 5 131 wait = 5
132 if rescale == 1.: 132 if rescale == 1.:
133 for windowName in windowNames: 133 for windowName in windowNames:
134 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) 134 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
135 if frameRate > 0: 135 if frameRate > 0:
140 if array([cap.isOpened() for cap in captures]).all(): 140 if array([cap.isOpened() for cap in captures]).all():
141 key = -1 141 key = -1
142 ret = True 142 ret = True
143 nFramesShown = 0 143 nFramesShown = 0
144 if firstFrameNums is not None: 144 if firstFrameNums is not None:
145 for i in xrange(len(captures)): 145 for i in range(len(captures)):
146 captures[i].set(cv2.PROP_POS_FRAMES, firstFrameNums[i]) 146 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i])
147 while ret and not quitKey(key): 147 while ret and not quitKey(key):
148 rets = [] 148 rets = []
149 images = [] 149 images = []
150 for cap in captures: 150 for cap in captures:
151 ret, img = cap.read() 151 ret, img = cap.read()
153 images.append(img) 153 images.append(img)
154 ret = array(rets).all() 154 ret = array(rets).all()
155 if ret: 155 if ret:
156 if printFrames: 156 if printFrames:
157 print('frame shown {0}'.format(nFramesShown)) 157 print('frame shown {0}'.format(nFramesShown))
158 for i in xrange(len(filenames)): 158 for i in range(len(filenames)):
159 if text is not None: 159 if text is not None:
160 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType]) 160 cv2.putText(images[i], text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed[colorType])
161 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img) 161 cvImshow(windowNames[i], images[i], rescale) # cv2.imshow('frame', img)
162 key = cv2.waitKey(wait) 162 key = cv2.waitKey(wait)
163 if saveKey(key): 163 if saveKey(key):
164 cv2.imwrite('image-{}.png'.format(frameNum), img) 164 cv2.imwrite('image-{}.png'.format(frameNum), img)
165 nFramesShown += step 165 nFramesShown += step
166 if step > 1: 166 if step > 1:
167 for i in xrange(len(captures)): 167 for i in range(len(captures)):
168 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown) 168 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
169 cv2.destroyAllWindows() 169 cv2.destroyAllWindows()
170 else: 170 else:
171 print('Video captures for {} failed'.format(filenames)) 171 print('Video captures for {} failed'.format(filenames))
172 172
329 if not hasattr(obj, 'projectedPositions'): 329 if not hasattr(obj, 'projectedPositions'):
330 obj.projectedPositions = obj.getPositions().homographyProject(homography) 330 obj.projectedPositions = obj.getPositions().homographyProject(homography)
331 if undistort: 331 if undistort:
332 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix) 332 obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix)
333 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant()) 333 cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant())
334 if frameNum not in boundingBoxes.keys() and obj.hasFeatures(): 334 if frameNum not in boundingBoxes and obj.hasFeatures():
335 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height) 335 yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height)
336 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1) 336 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue[colorType], 1)
337 objDescription = '{} '.format(obj.num) 337 objDescription = '{} '.format(obj.num)
338 if moving.userTypeNames[obj.userType] != 'unknown': 338 if moving.userTypeNames[obj.userType] != 'unknown':
339 objDescription += moving.userTypeNames[obj.userType][0].upper() 339 objDescription += moving.userTypeNames[obj.userType][0].upper()
342 objDescription += " FA" 342 objDescription += " FA"
343 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()]) 343 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvColors[colorType][obj.getNum()])
344 if obj.getLastInstant() == frameNum: 344 if obj.getLastInstant() == frameNum:
345 objects.remove(obj) 345 objects.remove(obj)
346 # plot object bounding boxes 346 # plot object bounding boxes
347 if frameNum in boundingBoxes.keys(): 347 if frameNum in boundingBoxes:
348 for rect in boundingBoxes[frameNum]: 348 for rect in boundingBoxes[frameNum]:
349 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()]) 349 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[colorType][obj.getNum()])
350 # plot ground truth 350 # plot ground truth
351 if len(annotations) > 0: 351 if len(annotations) > 0:
352 for gt in annotations: 352 for gt in annotations:
504 width = img.shape[1] 504 width = img.shape[1]
505 height = img.shape[0] 505 height = img.shape[0]
506 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) 506 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
507 return cv2.remap(img, map1, map2, interpolation=interpolation) 507 return cv2.remap(img, map1, map2, interpolation=interpolation)
508 508
509
510 def printCvMat(cvmat, out = stdout):
511 '''Prints the cvmat to out'''
512 print('Deprecated, use new interface')
513 for i in xrange(cvmat.rows):
514 for j in xrange(cvmat.cols):
515 out.write('{0} '.format(cvmat[i,j]))
516 out.write('\n')
517
518 def homographyProject(points, homography, output3D = False): 509 def homographyProject(points, homography, output3D = False):
519 '''Returns the coordinates of the points (2xN array) projected through homography''' 510 '''Returns the coordinates of the points (2xN array) projected through homography'''
520 if points.shape[0] != 2: 511 if points.shape[0] != 2:
521 raise Exception('points of dimension {}'.format(points.shape)) 512 raise Exception('points of dimension {}'.format(points.shape))
522 513