Mercurial > hg > nsaunier > traffic-intelligence

comparison python/cvutils.py @ 729:dad99b86a104 dev

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merge with default
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 10 Aug 2015 17:52:19 -0400
parents 43ae3a1af290
children 6022350f8173
comparison
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728:4e89341edd29 729:dad99b86a104
23 23
24 24
25 cvRed = (0,0,255) 25 cvRed = (0,0,255)
26 cvGreen = (0,255,0) 26 cvGreen = (0,255,0)
27 cvBlue = (255,0,0) 27 cvBlue = (255,0,0)
28 cvCyan = (255, 255, 0)
29 cvYellow = (0, 255, 255)
30 cvMagenta = (255, 0, 255)
31 cvWhite = (255, 255, 255)
32 cvBlack = (0,0,0)
33 cvColors3 = utils.PlottingPropertyValues([cvRed,
34 cvGreen,
35 cvBlue])
28 cvColors = utils.PlottingPropertyValues([cvRed, 36 cvColors = utils.PlottingPropertyValues([cvRed,
29 cvGreen, 37 cvGreen,
30 cvBlue]) 38 cvBlue,
39 cvCyan,
40 cvYellow,
41 cvMagenta,
42 cvWhite,
43 cvBlack])
31 44
32 def quitKey(key): 45 def quitKey(key):
33 return chr(key&255)== 'q' or chr(key&255) == 'Q' 46 return chr(key&255)== 'q' or chr(key&255) == 'Q'
34 47
35 def saveKey(key): 48 def saveKey(key):
55 #draw.line([p1.x, p1.y, p2.x, p2.y], pen) 68 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
56 del draw 69 del draw
57 70
58 #out = utils.openCheck(resultFilename) 71 #out = utils.openCheck(resultFilename)
59 img.save(resultFilename) 72 img.save(resultFilename)
73
74 def rgb2gray(rgb):
75 return dot(rgb[...,:3], [0.299, 0.587, 0.144])
60 76
61 def matlab2PointCorrespondences(filename): 77 def matlab2PointCorrespondences(filename):
62 '''Loads and converts the point correspondences saved 78 '''Loads and converts the point correspondences saved
63 by the matlab camera calibration tool''' 79 by the matlab camera calibration tool'''
64 from numpy.lib.io import loadtxt, savetxt 80 from numpy.lib.io import loadtxt, savetxt
96 for j in range(cvmat.cols): 112 for j in range(cvmat.cols):
97 cvmat[i,j] = a[i,j] 113 cvmat[i,j] = a[i,j]
98 return cvmat 114 return cvmat
99 115
100 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs): 116 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
101 last = lastCoordinate+1 117 if lastCoordinate is None:
102 if lastCoordinate is not None and lastCoordinate >=0: 118 last = positions.length()-1
119 elif lastCoordinate >=0:
103 last = min(positions.length()-1, lastCoordinate) 120 last = min(positions.length()-1, lastCoordinate)
104 for i in range(0, last-1): 121 for i in range(0, last):
105 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs) 122 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color, **kwargs)
106 123
107 def cvImshow(windowName, img, rescale = 1.0): 124 def cvImshow(windowName, img, rescale = 1.0):
108 'Rescales the image (in particular if too large)' 125 'Rescales the image (in particular if too large)'
109 from cv2 import resize 126 from cv2 import resize
262 else: 279 else:
263 croppedImg = None 280 croppedImg = None
264 return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax 281 return croppedImg, yCropMin, yCropMax, xCropMin, xCropMax
265 282
266 283
267 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.): 284 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., annotations = [], gtMatches = {}, toMatches = {}):
268 '''Displays the objects overlaid frame by frame over the video ''' 285 '''Displays the objects overlaid frame by frame over the video '''
269 from moving import userTypeNames 286 from moving import userTypeNames
270 from math import ceil, log10 287 from math import ceil, log10
271 288
272 capture = cv2.VideoCapture(videoFilename) 289 capture = cv2.VideoCapture(videoFilename)
288 from sys import maxint 305 from sys import maxint
289 lastFrameNum = maxint 306 lastFrameNum = maxint
290 else: 307 else:
291 lastFrameNum = lastFrameNumArg 308 lastFrameNum = lastFrameNumArg
292 nZerosFilename = int(ceil(log10(lastFrameNum))) 309 nZerosFilename = int(ceil(log10(lastFrameNum)))
310 objectToDeleteIds = []
293 while ret and not quitKey(key) and frameNum <= lastFrameNum: 311 while ret and not quitKey(key) and frameNum <= lastFrameNum:
294 ret, img = capture.read() 312 ret, img = capture.read()
295 if ret: 313 if ret:
296 if undistort: 314 if undistort:
297 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) 315 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
298 if printFrames: 316 if printFrames:
299 print('frame {0}'.format(frameNum)) 317 print('frame {0}'.format(frameNum))
318 if len(objectToDeleteIds) > 0:
319 objects = [o for o in objects if o.getNum() not in objectToDeleteIds]
320 objectToDeleteIds = []
321 # plot objects
300 for obj in objects: 322 for obj in objects:
301 if obj.existsAtInstant(frameNum): 323 if obj.existsAtInstant(frameNum):
324 if obj.getLastInstant() == frameNum:
325 objectToDeleteIds.append(obj.getNum())
302 if not hasattr(obj, 'projectedPositions'): 326 if not hasattr(obj, 'projectedPositions'):
303 if homography is not None: 327 if homography is not None:
304 obj.projectedPositions = obj.positions.project(homography) 328 obj.projectedPositions = obj.positions.project(homography)
305 else: 329 else:
306 obj.projectedPositions = obj.positions 330 obj.projectedPositions = obj.positions
307 cvPlot(img, obj.projectedPositions, cvRed, frameNum-obj.getFirstInstant()) 331 cvPlot(img, obj.projectedPositions, cvColors[obj.getNum()], frameNum-obj.getFirstInstant())
308 if frameNum in boundingBoxes.keys(): 332 if frameNum not in boundingBoxes.keys() and obj.hasFeatures():
309 for rect in boundingBoxes[frameNum]:
310 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvRed)
311 elif obj.hasFeatures():
312 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height) 333 imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height)
313 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 1) 334 cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 1)
314 objDescription = '{} '.format(obj.num) 335 objDescription = '{} '.format(obj.num)
315 if userTypeNames[obj.userType] != 'unknown': 336 if userTypeNames[obj.userType] != 'unknown':
316 objDescription += userTypeNames[obj.userType][0].upper() 337 objDescription += userTypeNames[obj.userType][0].upper()
317 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed) 338 if len(annotations) > 0: # if we loaded annotations, but there is no match
339 if frameNum not in toMatches[obj.getNum()]:
340 objDescription += " FA"
341 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvColors[obj.getNum()])
342 # plot object bounding boxes
343 if frameNum in boundingBoxes.keys():
344 for rect in boundingBoxes[frameNum]:
345 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvColors[obj.getNum()])
346 # plot ground truth
347 if len(annotations) > 0:
348 for gt in annotations:
349 if gt.existsAtInstant(frameNum):
350 if frameNum in gtMatches[gt.getNum()]:
351 color = cvColors[gtMatches[gt.getNum()][frameNum]] # same color as object
352 else:
353 color = cvRed
354 cv2.putText(img, 'Miss', gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
355 cv2.rectangle(img, gt.topLeftPositions[frameNum-gt.getFirstInstant()].asint().astuple(), gt.bottomRightPositions[frameNum-gt.getFirstInstant()].asint().astuple(), color)
356 # saving images and going to next
318 if not saveAllImages: 357 if not saveAllImages:
319 cvImshow(windowName, img, rescale) 358 cvImshow(windowName, img, rescale)
320 key = cv2.waitKey() 359 key = cv2.waitKey()
321 if saveAllImages or saveKey(key): 360 if saveAllImages or saveKey(key):
322 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img) 361 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)