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comparison python/cvutils.py @ 402:f29204e68aab

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function to generate homography from PDTV Tsai format and script to generate trajectories from sqlite bounding boxes
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 29 Jul 2013 19:45:43 -0400
parents 3399bd48cb40
children 37c7b46f6e21
comparison
equal deleted inserted replaced
401:b829ebdc18e6 402:f29204e68aab
77 for j in xrange(cvmat.cols): 77 for j in xrange(cvmat.cols):
78 a[i,j] = cvmat[i,j] 78 a[i,j] = cvmat[i,j]
79 return a 79 return a
80 80
81 if opencvAvailable: 81 if opencvAvailable:
82 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0): 82 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
83 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' 83 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
84 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) 84 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
85 return H 85 return H
86 86
87 def arrayToCvMat(a, t = cv2.cv.CV_64FC1): 87 def arrayToCvMat(a, t = cv2.cv.CV_64FC1):
160 imgNum +=1 160 imgNum +=1
161 capture.release() 161 capture.release()
162 else: 162 else:
163 print('Video capture failed') 163 print('Video capture failed')
164 return images 164 return images
165
166 165
167 def getFPS(videoFilename): 166 def getFPS(videoFilename):
168 capture = cv2.VideoCapture(videoFilename) 167 capture = cv2.VideoCapture(videoFilename)
169 if capture.isOpened(): 168 if capture.isOpened():
170 fps = capture.get(cv2.cv.CV_CAP_PROP_FPS) 169 fps = capture.get(cv2.cv.CV_CAP_PROP_FPS)
208 key = cv2.waitKey() 207 key = cv2.waitKey()
209 if saveKey(key): 208 if saveKey(key):
210 cv2.imwrite('image.png', img) 209 cv2.imwrite('image.png', img)
211 frameNum += 1 210 frameNum += 1
212 cv2.destroyAllWindows() 211 cv2.destroyAllWindows()
212
213 def computeHomographyFromPDTV(cameraFilename, method=0, ransacReprojThreshold=3.0):
214 '''Returns the homography matrix at ground level from PDTV format
215 https://bitbucket.org/hakanardo/pdtv'''
216 import pdtv
217 from numpy import array
218 camera = pdtv.load(cameraFilename)
219 srcPoints = [[x,y] for x, y in zip([1.,2.,2.,1.],[1.,1.,2.,2.])] # need floats!!
220 dstPoints = []
221 for srcPoint in srcPoints:
222 projected = camera.image_to_world(tuple(srcPoint))
223 dstPoints.append([projected[0], projected[1]])
224 H, mask = cv2.findHomography(array(srcPoints), array(dstPoints), method, ransacReprojThreshold)
225 return H
226
213 227
214 def printCvMat(cvmat, out = stdout): 228 def printCvMat(cvmat, out = stdout):
215 '''Prints the cvmat to out''' 229 '''Prints the cvmat to out'''
216 print('Deprecated, use new interface') 230 print('Deprecated, use new interface')
217 for i in xrange(cvmat.rows): 231 for i in xrange(cvmat.rows):