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annotate python/cvutils.py @ 98:b85912ab4064

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refactored projection functions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Jul 2011 16:43:33 -0400
parents 40e8e3bb3702
children e7dc5a780f09
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1 #! /usr/bin/env python
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2 '''Image/Video utilities'''
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3
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4 import Image, ImageDraw # PIL
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5 #import aggdraw # agg on top of PIL (antialiased drawing)
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6 from moving import Point
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7 #import utils
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8
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9 __metaclass__ = type
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10
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11 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
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12 '''Draws lines over the image '''
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13
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14 img = Image.open(filename)
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15
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16 draw = ImageDraw.Draw(img)
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17 #draw = aggdraw.Draw(img)
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18 #pen = aggdraw.Pen("red", width)
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19 for p1, p2 in zip(origins, destinations):
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20 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
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21 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
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22 del draw
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23
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24 #out = utils.openCheck(resultFilename)
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25 img.save(resultFilename)
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27 def projectArray(homography, points):
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28 '''Returns the coordinates of the projected points (format 2xN points)
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29 through homography'''
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30 from numpy.core._dotblas import dot
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31 from numpy.core.multiarray import array
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32 from numpy.lib.function_base import append
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33
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34 if points.shape[0] != 2:
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35 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
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36
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37 if (homography!=None) and homography.size>0:
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38 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
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39 prod = dot(homography, augmentedPoints)
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40 return prod[0:2]/prod[2]
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41 else:
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42 return p
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43
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44 def project(homography, p):
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45 '''Returns the coordinates of the projection of the point p
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46 through homography'''
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47 from numpy.core.multiarray import array
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48 return projectArray(homography, array([[p[0]],p[1]]))
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49
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50 def projectTrajectory(homography, trajectory):
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51 '''Projects a series of points in the format
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52 [[x1, x2, ...],
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53 [y1, y2, ...]]'''
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54 from numpy.core.multiarray import array
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55 return projectArray(homography, array(trajectory))
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57 def invertHomography(homography):
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58 'Returns an inverted homography'
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59 from numpy.linalg.linalg import inv
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60 invH = inv(homography)
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61 invH /= invH[2,2]
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62 return invH
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64 class FourWayIntersection:
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65 '''Simple class for simple intersection outline'''
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66 def __init__(self, dimension, coordX, coordY):
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67 self.dimension = dimension
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68 self.coordX = coordX
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69 self.coordY = coordY
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71 def plot(self, options = 'k'):
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72 from matplotlib.pyplot import plot, axis
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74 minX = min(self.dimension[0])
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75 maxX = max(self.dimension[0])
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76 minY = min(self.dimension[1])
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77 maxY = max(self.dimension[1])
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78
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79 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
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80 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
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81 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
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82 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
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83 axis('equal')