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comparison scripts/display-trajectories.py @ 513:dbf4b83afbb9

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pulled in and merged the new functionalities to deal with camera distortion (eg GoPro cameras)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 04 Jun 2014 10:57:09 -0400
parents 81ff62a7c39f
children 1ba618fb0f70
comparison
equal deleted inserted replaced
505:35c99776e593 513:dbf4b83afbb9
11 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file') 11 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
12 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file') 12 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file')
13 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file') 13 parser.add_argument('-i', dest = 'videoFilename', help = 'name of the video file')
14 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to display', choices = ['feature', 'object'], default = 'feature') 14 parser.add_argument('-t', dest = 'trajectoryType', help = 'type of trajectories to display', choices = ['feature', 'object'], default = 'feature')
15 parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the image to world homography file') 15 parser.add_argument('-o', dest = 'homographyFilename', help = 'name of the image to world homography file')
16 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', default = 0, type = int) 16 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
17 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
18 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
19 parser.add_argument('-u', dest = 'undistort', help = 'undistort the video (because features have been extracted that way)', action = 'store_true')
20 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
17 parser.add_argument('-r', dest = 'rescale', help = 'rescaling factor for the displayed image', default = 1., type = float) 21 parser.add_argument('-r', dest = 'rescale', help = 'rescaling factor for the displayed image', default = 1., type = float)
18 parser.add_argument('-s', dest = 'nFramesStep', help = 'number of frames between each display', default = 1, type = int) 22 parser.add_argument('-s', dest = 'nFramesStep', help = 'number of frames between each display', default = 1, type = int)
19 parser.add_argument('--save-images', dest = 'saveAllImages', help = 'save all images', action = 'store_true') 23 parser.add_argument('--save-images', dest = 'saveAllImages', help = 'save all images', action = 'store_true')
20 parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', default = None, type = int) 24 parser.add_argument('--last-frame', dest = 'lastFrameNum', help = 'number of last frame number to save (for image saving, no display is made)', type = int)
21 25
22 args = parser.parse_args() 26 args = parser.parse_args()
23 27
24 homography = None
25 if args.configFilename: # consider there is a configuration file 28 if args.configFilename: # consider there is a configuration file
26 params = utils.TrackingParameters() 29 params = storage.TrackingParameters(args.configFilename)
27 params.loadConfigFile(args.configFilename)
28 videoFilename = params.videoFilename 30 videoFilename = params.videoFilename
29 databaseFilename = params.databaseFilename 31 databaseFilename = params.databaseFilename
30 homography = inv(loadtxt(params.homographyFilename)) 32 homography = inv(params.homography)
33 intrinsicCameraMatrix = params.intrinsicCameraMatrix
34 distortionCoefficients = params.distortionCoefficients
35 undistortedImageMultiplication = params.undistortedImageMultiplication
36 undistort = params.undistort
31 firstFrameNum = params.firstFrameNum 37 firstFrameNum = params.firstFrameNum
38 else:
39 homography = None
40 undistort = False
41 intrinsicCameraMatrix = None
42 distortionCoefficients = []
43 undistortedImageMultiplication = None
44 firstFrameNum = 0
32 45
33 if args.videoFilename != None: 46 if not args.configFilename and args.videoFilename != None:
34 videoFilename = args.videoFilename 47 videoFilename = args.videoFilename
35 if args.databaseFilename != None: 48 if not args.configFilename and args.databaseFilename != None:
36 databaseFilename = args.databaseFilename 49 databaseFilename = args.databaseFilename
37 if args.homographyFilename != None: 50 if not args.configFilename and args.homographyFilename != None:
38 homography = inv(loadtxt(args.homographyFilename)) 51 homography = inv(loadtxt(args.homographyFilename))
39 if args.firstFrameNum != None: 52 if not args.configFilename and args.intrinsicCameraMatrixFilename != None:
53 intrinsicCameraMatrix = loadtxt(args.intrinsicCameraMatrixFilename)
54 if not args.configFilename and args.distortionCoefficients != None:
55 distortionCoefficients = args.distortionCoefficients
56 if not args.configFilename and args.undistortedImageMultiplication != None:
57 undistortedImageMultiplication = args.undistortedImageMultiplication
58 if not args.configFilename and args.firstFrameNum != None:
40 firstFrameNum = args.firstFrameNum 59 firstFrameNum = args.firstFrameNum
60
41 61
42 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, args.trajectoryType) 62 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, args.trajectoryType)
43 boundingBoxes = storage.loadBoundingBoxTable(databaseFilename) 63 boundingBoxes = storage.loadBoundingBoxTable(databaseFilename)
44 cvutils.displayTrajectories(videoFilename, objects, boundingBoxes, homography, firstFrameNum, args.lastFrameNum, rescale = args.rescale, nFramesStep = args.nFramesStep, saveAllImages = args.saveAllImages) 64 cvutils.displayTrajectories(videoFilename, objects, boundingBoxes, homography, firstFrameNum, args.lastFrameNum, rescale = args.rescale, nFramesStep = args.nFramesStep, saveAllImages = args.saveAllImages, undistort = (undistort or args.undistort), intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)