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comparison trafficintelligence/cvutils.py @ 1253:ef68d4ba7dae

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added loading ego vehicle in kitti 2D format and method to plot outline
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 25 Mar 2024 17:05:20 -0400
parents 371c718e57d7
children
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1252:fe35473acee3 1253:ef68d4ba7dae
28 28
29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4'] 29 videoFilenameExtensions = ['mov', 'avi', 'mp4', 'MOV', 'AVI', 'MP4']
30 trackerExe = 'feature-based-tracking' 30 trackerExe = 'feature-based-tracking'
31 #importaggdraw # agg on top of PIL (antialiased drawing) 31 #importaggdraw # agg on top of PIL (antialiased drawing)
32 32
33 colors = 'rgbcymk'
33 cvRed = {'default': (0,0,255), 34 cvRed = {'default': (0,0,255),
34 'colorblind': (0,114,178)} 35 'colorblind': (0,114,178)}
35 cvGreen = {'default': (0,255,0), 36 cvGreen = {'default': (0,255,0),
36 'colorblind': (0,158,115)} 37 'colorblind': (0,158,115)}
37 cvBlue = {'default': (255,0,0), 38 cvBlue = {'default': (255,0,0),
532 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) 533 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
533 return cv2.remap(img, map1, map2, interpolation=interpolation) 534 return cv2.remap(img, map1, map2, interpolation=interpolation)
534 535
535 def cartesian2Homogeneous(m): 536 def cartesian2Homogeneous(m):
536 'Transforms n x m matrix to n x (m+1) by adding last column of 1s' 537 'Transforms n x m matrix to n x (m+1) by adding last column of 1s'
537 homoM = ones((m.shape[0], m.shape[1]+1)) 538 if len(m.shape) == 2:
539 homoM = ones((m.shape[0], m.shape[1]+1))
540 else:
541 homoM = ones((1, len(m)+1))
538 homoM[:,:-1] = m 542 homoM[:,:-1] = m
539 return homoM 543 return homoM
540 544
541 def homographyProject(points, homography, output3D = False): 545 def homographyProject(points, homography, output3D = False):
542 '''Returns the coordinates of the points (2xN array) projected through homography''' 546 '''Returns the coordinates of the points (2xN array) projected through homography'''