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comparison python/cvutils.py @ 509:935430b1d408

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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 23 May 2014 16:27:26 -0400
parents 343cfd185ca6
children b0dac840c24f
comparison
equal deleted inserted replaced
508:6f7fa0093162 509:935430b1d408
200 else: 200 else:
201 imgcrop = [] 201 imgcrop = []
202 return imgcrop, yCropMin, yCropMax, xCropMin, xCropMax 202 return imgcrop, yCropMin, yCropMax, xCropMin, xCropMax
203 203
204 204
205 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False): 205 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
206 '''Displays the objects overlaid frame by frame over the video ''' 206 '''Displays the objects overlaid frame by frame over the video '''
207 from moving import userTypeNames 207 from moving import userTypeNames
208 from math import ceil, log10 208 from math import ceil, log10
209 from numpy import identity, array
210
209 capture = cv2.VideoCapture(videoFilename) 211 capture = cv2.VideoCapture(videoFilename)
210 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) 212 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
211 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) 213 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
214
215 if undistort: # setup undistortion
216 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
217 from copy import deepcopy
218 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
219 newCameraMatrix[0,2] = newImgSize[0]/2.
220 newCameraMatrix[1,2] = newImgSize[1]/2.
221 [map1, map2] = cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
222
212 if capture.isOpened(): 223 if capture.isOpened():
213 key = -1 224 key = -1
214 ret = True 225 ret = True
215 frameNum = firstFrameNum 226 frameNum = firstFrameNum
216 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) 227 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
221 lastFrameNum = lastFrameNumArg 232 lastFrameNum = lastFrameNumArg
222 nZerosFilename = int(ceil(log10(lastFrameNum))) 233 nZerosFilename = int(ceil(log10(lastFrameNum)))
223 while ret and not quitKey(key) and frameNum < lastFrameNum: 234 while ret and not quitKey(key) and frameNum < lastFrameNum:
224 ret, img = capture.read() 235 ret, img = capture.read()
225 if ret: 236 if ret:
237 if undistort:
238 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
226 if printFrames: 239 if printFrames:
227 print('frame {0}'.format(frameNum)) 240 print('frame {0}'.format(frameNum))
228 for obj in objects: 241 for obj in objects:
229 if obj.existsAtInstant(frameNum): 242 if obj.existsAtInstant(frameNum):
230 if not hasattr(obj, 'projectedPositions'): 243 if not hasattr(obj, 'projectedPositions'):