Mercurial Hosting > traffic-intelligence
changeset 936:56cc8a1f7082
removed all old versions of projection methods
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Fri, 14 Jul 2017 16:48:42 -0400 |
| parents | 0e63a918a1ca |
| children | b67a784beb69 |
| files | python/cvutils.py python/moving.py scripts/display-synced-trajectories.py scripts/rescale-homography.py scripts/test-compute-object-position-from-features.py |
| diffstat | 5 files changed, 8 insertions(+), 73 deletions(-) [+] |
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--- a/python/cvutils.py Fri Jul 14 16:30:57 2017 -0400 +++ b/python/cvutils.py Fri Jul 14 16:48:42 2017 -0400 @@ -333,7 +333,6 @@ obj.projectedPositions = obj.getPositions().homographyProject(homography) if undistort: obj.projectedPositions = obj.projectedPositions.newCameraProject(newCameraMatrix) - #obj.projectedPositions = obj.positions cvPlot(img, obj.projectedPositions, cvColors[colorType][obj.getNum()], frameNum-obj.getFirstInstant()) if frameNum not in boundingBoxes.keys() and obj.hasFeatures(): yCropMin, yCropMax, xCropMin, xCropMax = imageBoxSize(obj, frameNum, homography, width, height) @@ -577,70 +576,6 @@ else: return points -def projectArray(homography, points, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None): - '''Returns the coordinates of the projected points through homography - (format: array 2xN points)''' - if points.shape[0] != 2: - raise Exception('points of dimension {}'.format(points.shape)) - - augmentedPoints = append(points,[[1]*points.shape[1]], 0) # 3xN - if homography is not None and homography.size>0: - prod = dot(homography, augmentedPoints) - projected = prod/prod[2] - else: - projected = augmentedPoints - - if intrinsicCameraMatrix is not None and distortionCoefficients is not None: - if newCameraMatrix is not None: - invNewCameraMatrix = inv(newCameraMatrix) - reducedPoints = dot(invNewCameraMatrix, projected) - else: - reducedPoints = projected - projected, jacobian = cv2.projectPoints(reducedPoints.T, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients) # in: 3xN, out: 2x1xN - projected = projected.reshape(-1,2).T - return projected[:2,:] - -def project(homography, p, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None): - '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1] - through homography''' - return projectArray(homography, array([[p[0]],[p[1]]]), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix) - -def projectTrajectory(homography, trajectory, intrinsicCameraMatrix = None, distortionCoefficients = None, newCameraMatrix = None): - '''Projects a series of points in the format - [[x1, x2, ...], - [y1, y2, ...]]''' - return projectArray(homography, array(trajectory), intrinsicCameraMatrix, distortionCoefficients, newCameraMatrix) - -def invertHomography(homography): - '''Returns an inverted homography - Unnecessary for reprojection over camera image''' - invH = inv(homography) - invH /= invH[2,2] - return invH - -def undistortTrajectory(invMap1, invMap2, positions): - floorPositions = npfloor(positions) - #ceilPositions = npceil(positions) - undistortedTrajectory = [[],[]] - for i in xrange(len(positions[0])): - x,y = None, None - if positions[0][i]+1 < invMap1.shape[1] and positions[1][i]+1 < invMap1.shape[0]: - floorX = invMap1[floorPositions[1][i], floorPositions[0][i]] - floorY = invMap2[floorPositions[1][i], floorPositions[0][i]] - ceilX = invMap1[floorPositions[1][i]+1, floorPositions[0][i]+1] - ceilY = invMap2[floorPositions[1][i]+1, floorPositions[0][i]+1] - #ceilX = invMap1[ceilPositions[1][i], ceilPositions[0][i]] - #ceilY = invMap2[ceilPositions[1][i], ceilPositions[0][i]] - if floorX >=0 and floorY >=0 and ceilX >=0 and ceilY >=0: - x = floorX+(positions[0][i]-floorPositions[0][i])*(ceilX-floorX) - y = floorY+(positions[1][i]-floorPositions[1][i])*(ceilY-floorY) - undistortedTrajectory[0].append(x) - undistortedTrajectory[1].append(y) - return undistortedTrajectory - -def projectGInputPoints(homography, points): - return projectTrajectory(homography, array(points+[points[0]]).T) - if opencvAvailable: def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)): '''Computes the translation of img2 with respect to img1
--- a/python/moving.py Fri Jul 14 16:30:57 2017 -0400 +++ b/python/moving.py Fri Jul 14 16:48:42 2017 -0400 @@ -263,8 +263,8 @@ def asShapely(self): return shapelyPoint(self.x, self.y) - def project(self, homography): - projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) + def homographyProject(self, homography): + projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography) return Point(projected[0], projected[1]) def inPolygon(self, polygon): @@ -1173,7 +1173,7 @@ '''Returns new objects made of the positions in the mask mask is in the destination of the homography space''' if homography is not None: - self.projectedPositions = self.positions.project(homography) + self.projectedPositions = self.positions.homographyProject(homography) else: self.projectedPositions = self.positions def inMask(positions, i, mask): @@ -1644,7 +1644,7 @@ print('not implemented/tested yet') if not hasattr(self, projectedPositions): if homography is not None: - self.projectedPositions = obj.positions.project(homography) + self.projectedPositions = obj.positions.homographyProject(homography) else: self.projectedPositions = obj.positions possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))} @@ -1716,7 +1716,7 @@ def computeCentroidTrajectory(self, homography = None): self.positions = self.topLeftPositions.add(self.bottomRightPositions).multiply(0.5) if homography is not None: - self.positions = self.positions.project(homography) + self.positions = self.positions.homographyProject(homography) def matches(self, obj, instant, matchingDistance): '''Indicates if the annotation matches obj (MovingObject)
--- a/scripts/display-synced-trajectories.py Fri Jul 14 16:30:57 2017 -0400 +++ b/scripts/display-synced-trajectories.py Fri Jul 14 16:48:42 2017 -0400 @@ -98,7 +98,7 @@ #print obj.num, obj.timeInterval, mergedFirstFrameNum, nFramesShown if i not in obj.projectedPositions: if homographies[i] is not None: - obj.projectedPositions[i] = obj.positions.project(homographies[i]) + obj.projectedPositions[i] = obj.positions.homographyProject(homographies[i]) else: obj.projectedPositions[i] = obj.positions cvutils.cvPlot(images[i], obj.projectedPositions[i], cvutils.cvColors['default'][obj.getNum()], int(mergedFirstFrameNum+nFramesShown)-obj.getFirstInstant())
--- a/scripts/rescale-homography.py Fri Jul 14 16:30:57 2017 -0400 +++ b/scripts/rescale-homography.py Fri Jul 14 16:48:42 2017 -0400 @@ -20,7 +20,7 @@ [20,20], [20,10]]) -wldPoints = cvutils.projectArray(homography, imgPoints.T).T +wldPoints = cvutils.homographyProject(imgPoints.T, homography).T newSize = float(sys.argv[3]) originalSize = float(sys.argv[2])
--- a/scripts/test-compute-object-position-from-features.py Fri Jul 14 16:30:57 2017 -0400 +++ b/scripts/test-compute-object-position-from-features.py Fri Jul 14 16:48:42 2017 -0400 @@ -41,7 +41,7 @@ yCoordinates = -np.ones((len(features),int(timeInterval.length()))) for i,f in enumerate(features): traj = f.getPositions().asArray() - imgTraj = cvutils.projectArray(homography, traj) + imgTraj = cvutils.homographyProject(traj, homography) yCoordinates[i,f.getFirstInstant()-timeInterval.first:f.getLastInstant()+1-timeInterval.first] = imgTraj[1,:] indices = np.argmax(yCoordinates,0)