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comparison python/cvutils.py @ 513:dbf4b83afbb9

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pulled in and merged the new functionalities to deal with camera distortion (eg GoPro cameras)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 04 Jun 2014 10:57:09 -0400
parents ad518f0c3218
children 727e3c529519
comparison
equal deleted inserted replaced
505:35c99776e593 513:dbf4b83afbb9
107 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale))) 107 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
108 resizedImg = resize(img, size) 108 resizedImg = resize(img, size)
109 cv2.imshow(windowName, resizedImg) 109 cv2.imshow(windowName, resizedImg)
110 else: 110 else:
111 cv2.imshow(windowName, img) 111 cv2.imshow(windowName, img)
112
113 def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
114 from copy import deepcopy
115 from numpy import identity, array
116 newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
117 newCameraMatrix = deepcopy(intrinsicCameraMatrix)
118 newCameraMatrix[0,2] = newImgSize[0]/2.
119 newCameraMatrix[1,2] = newImgSize[1]/2.
120 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
112 121
113 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.): 122 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.):
114 '''Plays the video''' 123 '''Plays the video'''
115 wait = 5 124 wait = 5
116 if frameRate > 0: 125 if frameRate > 0:
200 else: 209 else:
201 imgcrop = [] 210 imgcrop = []
202 return imgcrop, yCropMin, yCropMax, xCropMin, xCropMax 211 return imgcrop, yCropMin, yCropMax, xCropMin, xCropMax
203 212
204 213
205 def displayTrajectories(videoFilename, objects, boundingBoxes = {}, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1., nFramesStep = 1, saveAllImages = False): 214 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 ''' 215 '''Displays the objects overlaid frame by frame over the video '''
207 from moving import userTypeNames 216 from moving import userTypeNames
208 from math import ceil, log10 217 from math import ceil, log10
218
209 capture = cv2.VideoCapture(videoFilename) 219 capture = cv2.VideoCapture(videoFilename)
210 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) 220 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
211 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) 221 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
222
223 if undistort: # setup undistortion
224 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
212 if capture.isOpened(): 225 if capture.isOpened():
213 key = -1 226 key = -1
214 ret = True 227 ret = True
215 frameNum = firstFrameNum 228 frameNum = firstFrameNum
216 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) 229 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
221 lastFrameNum = lastFrameNumArg 234 lastFrameNum = lastFrameNumArg
222 nZerosFilename = int(ceil(log10(lastFrameNum))) 235 nZerosFilename = int(ceil(log10(lastFrameNum)))
223 while ret and not quitKey(key) and frameNum < lastFrameNum: 236 while ret and not quitKey(key) and frameNum < lastFrameNum:
224 ret, img = capture.read() 237 ret, img = capture.read()
225 if ret: 238 if ret:
239 if undistort:
240 img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
226 if printFrames: 241 if printFrames:
227 print('frame {0}'.format(frameNum)) 242 print('frame {0}'.format(frameNum))
228 for obj in objects: 243 for obj in objects:
229 if obj.existsAtInstant(frameNum): 244 if obj.existsAtInstant(frameNum):
230 if not hasattr(obj, 'projectedPositions'): 245 if not hasattr(obj, 'projectedPositions'):