Mercurial > hg > nsaunier > traffic-intelligence

comparison scripts/undistort-video.py @ 572:9c429c7efe89

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added script to generate undistorted images from video
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Aug 2014 15:33:03 -0400
parents
children 3058e00887bc
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571:a9c1d61a89b4 572:9c429c7efe89
1 #! /usr/bin/env python
2
3 import sys, argparse
4
5 import numpy as np
6 import cv2
7
8 import cvutils
9 from math import ceil, log10
10
11 parser = argparse.ArgumentParser(description='''The program converts a video into a series of images corrected for distortion. One can then use mencoder to generate a movie, eg
12 $ mencoder 'mf://./*.png' -mf fps=[framerate]:type=png -ovc xvid -xvidencopts bitrate=[bitrate] -nosound -o [output.avi]''')
13
14 parser.add_argument('-i', dest = 'videoFilename', help = 'filename of the video sequence')
15 parser.add_argument('--intrinsic', dest = 'intrinsicCameraMatrixFilename', help = 'name of the intrinsic camera file')
16 parser.add_argument('--distortion-coefficients', dest = 'distortionCoefficients', help = 'distortion coefficients', nargs = '*', type = float)
17 parser.add_argument('--undistorted-multiplication', dest = 'undistortedImageMultiplication', help = 'undistorted image multiplication', type = float)
18 parser.add_argument('-f', dest = 'firstFrameNum', help = 'number of first frame number to display', type = int)
19 parser.add_argument('-l', dest = 'lastFrameNum', help = 'number of last frame number to save', type = int)
20
21 args = parser.parse_args()
22
23 intrinsicCameraMatrix = np.loadtxt(args.intrinsicCameraMatrixFilename)
24 #distortionCoefficients = args.distortionCoefficients
25 #undistortedImageMultiplication = args.undistortedImageMultiplication
26 #firstFrameNum = params.firstFrameNum
27
28 capture = cv2.VideoCapture(args.videoFilename)
29 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
30 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
31 [map1, map2] = cvutils.computeUndistortMaps(width, height, args.undistortedImageMultiplication, intrinsicCameraMatrix, args.distortionCoefficients)
32 if capture.isOpened():
33 ret = True
34 frameNum = args.firstFrameNum
35 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, args.firstFrameNum)
36 if args.lastFrameNum == None:
37 from sys import maxint
38 lastFrameNum = maxint
39 else:
40 lastFrameNum = args.lastFrameNum
41 nZerosFilename = int(ceil(log10(lastFrameNum)))
42 while ret and frameNum < lastFrameNum:
43 ret, img = capture.read()
44 if ret:
45 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
46 cv2.imwrite('undistorted-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
47 frameNum += 1