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comparison python/cvutils.py @ 993:e8eabef7857c

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update to OpenCV3 for python
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 16 May 2018 21:06:52 -0400
parents 132d84ce9f0c
children 933670761a57
comparison
equal deleted inserted replaced
992:2cd1ce245024 993:e8eabef7857c
91 if opencvAvailable: 91 if opencvAvailable:
92 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0): 92 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=3.0):
93 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)''' 93 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
94 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) 94 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
95 return H 95 return H
96
97 def arrayToCvMat(a, t = cv2.CV_64FC1):
98 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
99 print('Deprecated, use new interface')
100 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
101 for i in range(cvmat.rows):
102 for j in range(cvmat.cols):
103 cvmat[i,j] = a[i,j]
104 return cvmat
105 96
106 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs): 97 def cvPlot(img, positions, color, lastCoordinate = None, **kwargs):
107 if lastCoordinate is None: 98 if lastCoordinate is None:
108 last = positions.length()-1 99 last = positions.length()-1
109 elif lastCoordinate >=0: 100 elif lastCoordinate >=0:
150 key = -1 141 key = -1
151 ret = True 142 ret = True
152 nFramesShown = 0 143 nFramesShown = 0
153 if firstFrameNums is not None: 144 if firstFrameNums is not None:
154 for i in xrange(len(captures)): 145 for i in xrange(len(captures)):
155 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]) 146 captures[i].set(cv2.PROP_POS_FRAMES, firstFrameNums[i])
156 while ret and not quitKey(key): 147 while ret and not quitKey(key):
157 rets = [] 148 rets = []
158 images = [] 149 images = []
159 for cap in captures: 150 for cap in captures:
160 ret, img = cap.read() 151 ret, img = cap.read()
172 if saveKey(key): 163 if saveKey(key):
173 cv2.imwrite('image-{}.png'.format(frameNum), img) 164 cv2.imwrite('image-{}.png'.format(frameNum), img)
174 nFramesShown += step 165 nFramesShown += step
175 if step > 1: 166 if step > 1:
176 for i in xrange(len(captures)): 167 for i in xrange(len(captures)):
177 captures[i].set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown) 168 captures[i].set(cv2.CAP_PROP_POS_FRAMES, firstFrameNums[i]+nFramesShown)
178 cv2.destroyAllWindows() 169 cv2.destroyAllWindows()
179 else: 170 else:
180 print('Video captures for {} failed'.format(filenames)) 171 print('Video captures for {} failed'.format(filenames))
181 172
182 def infoVideo(filename): 173 def infoVideo(filename):
183 '''Provides all available info on video ''' 174 '''Provides all available info on video '''
184 cvPropertyNames = {cv2.cv.CV_CAP_PROP_FORMAT: "format", 175 cvPropertyNames = {cv2.CAP_PROP_FORMAT: "format",
185 cv2.cv.CV_CAP_PROP_FOURCC: "codec (fourcc)", 176 cv2.CAP_PROP_FOURCC: "codec (fourcc)",
186 cv2.cv.CV_CAP_PROP_FPS: "fps", 177 cv2.CAP_PROP_FPS: "fps",
187 cv2.cv.CV_CAP_PROP_FRAME_COUNT: "number of frames", 178 cv2.CAP_PROP_FRAME_COUNT: "number of frames",
188 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT: "heigh", 179 cv2.CAP_PROP_FRAME_HEIGHT: "heigh",
189 cv2.cv.CV_CAP_PROP_FRAME_WIDTH: "width", 180 cv2.CAP_PROP_FRAME_WIDTH: "width",
190 cv2.cv.CV_CAP_PROP_RECTIFICATION: "rectification", 181 cv2.CAP_PROP_RECTIFICATION: "rectification",
191 cv2.cv.CV_CAP_PROP_SATURATION: "saturation"} 182 cv2.CAP_PROP_SATURATION: "saturation"}
192 capture = cv2.VideoCapture(filename) 183 capture = cv2.VideoCapture(filename)
193 videoProperties = {} 184 videoProperties = {}
194 if capture.isOpened(): 185 if capture.isOpened():
195 for cvprop in [#cv2.cv.CV_CAP_PROP_BRIGHTNESS 186 for cvprop in [#cv2.CAP_PROP_BRIGHTNESS
196 #cv2.cv.CV_CAP_PROP_CONTRAST 187 #cv2.CAP_PROP_CONTRAST
197 #cv2.cv.CV_CAP_PROP_CONVERT_RGB 188 #cv2.CAP_PROP_CONVERT_RGB
198 #cv2.cv.CV_CAP_PROP_EXPOSURE 189 #cv2.CAP_PROP_EXPOSURE
199 cv2.cv.CV_CAP_PROP_FORMAT, 190 cv2.CAP_PROP_FORMAT,
200 cv2.cv.CV_CAP_PROP_FOURCC, 191 cv2.CAP_PROP_FOURCC,
201 cv2.cv.CV_CAP_PROP_FPS, 192 cv2.CAP_PROP_FPS,
202 cv2.cv.CV_CAP_PROP_FRAME_COUNT, 193 cv2.CAP_PROP_FRAME_COUNT,
203 cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, 194 cv2.CAP_PROP_FRAME_HEIGHT,
204 cv2.cv.CV_CAP_PROP_FRAME_WIDTH, 195 cv2.CAP_PROP_FRAME_WIDTH,
205 #cv2.cv.CV_CAP_PROP_GAIN, 196 #cv2.CAP_PROP_GAIN,
206 #cv2.cv.CV_CAP_PROP_HUE 197 #cv2.CAP_PROP_HUE
207 #cv2.cv.CV_CAP_PROP_MODE 198 #cv2.CAP_PROP_MODE
208 #cv2.cv.CV_CAP_PROP_POS_AVI_RATIO 199 #cv2.CAP_PROP_POS_AVI_RATIO
209 #cv2.cv.CV_CAP_PROP_POS_FRAMES 200 #cv2.CAP_PROP_POS_FRAMES
210 #cv2.cv.CV_CAP_PROP_POS_MSEC 201 #cv2.CAP_PROP_POS_MSEC
211 #cv2.cv.CV_CAP_PROP_RECTIFICATION, 202 #cv2.CAP_PROP_RECTIFICATION,
212 #cv2.cv.CV_CAP_PROP_SATURATION 203 #cv2.CAP_PROP_SATURATION
213 ]: 204 ]:
214 prop = capture.get(cvprop) 205 prop = capture.get(cvprop)
215 if cvprop == cv2.cv.CV_CAP_PROP_FOURCC and prop > 0: 206 if cvprop == cv2.CAP_PROP_FOURCC and prop > 0:
216 prop = int2FOURCC(int(prop)) 207 prop = int2FOURCC(int(prop))
217 videoProperties[cvPropertyNames[cvprop]] = prop 208 videoProperties[cvPropertyNames[cvprop]] = prop
218 else: 209 else:
219 print('Video capture for {} failed'.format(filename)) 210 print('Video capture for {} failed'.format(filename))
220 return videoProperties 211 return videoProperties
222 def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'): 213 def getImagesFromVideo(videoFilename, firstFrameNum = 0, lastFrameNum = 1, step = 1, saveImage = False, outputPrefix = 'image'):
223 '''Returns nFrames images from the video sequence''' 214 '''Returns nFrames images from the video sequence'''
224 images = [] 215 images = []
225 capture = cv2.VideoCapture(videoFilename) 216 capture = cv2.VideoCapture(videoFilename)
226 if capture.isOpened(): 217 if capture.isOpened():
227 rawCount = capture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT) 218 rawCount = capture.get(cv2.CAP_PROP_FRAME_COUNT)
228 if rawCount < 0: 219 if rawCount < 0:
229 rawCount = lastFrameNum+1 220 rawCount = lastFrameNum+1
230 nDigits = int(floor(log10(rawCount)))+1 221 nDigits = int(floor(log10(rawCount)))+1
231 ret = False 222 ret = False
232 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) 223 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
233 frameNum = firstFrameNum 224 frameNum = firstFrameNum
234 while frameNum<lastFrameNum and frameNum<rawCount: 225 while frameNum<lastFrameNum and frameNum<rawCount:
235 ret, img = capture.read() 226 ret, img = capture.read()
236 i = 0 227 i = 0
237 while not ret and i<10: 228 while not ret and i<10:
243 cv2.imwrite(outputPrefix+frameNumStr+'.png', img) 234 cv2.imwrite(outputPrefix+frameNumStr+'.png', img)
244 else: 235 else:
245 images.append(img) 236 images.append(img)
246 frameNum +=step 237 frameNum +=step
247 if step > 1: 238 if step > 1:
248 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) 239 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
249 capture.release() 240 capture.release()
250 else: 241 else:
251 print('Video capture for {} failed'.format(videoFilename)) 242 print('Video capture for {} failed'.format(videoFilename))
252 return images 243 return images
253 244
254 def getFPS(videoFilename): 245 def getFPS(videoFilename):
255 capture = cv2.VideoCapture(videoFilename) 246 capture = cv2.VideoCapture(videoFilename)
256 if capture.isOpened(): 247 if capture.isOpened():
257 fps = capture.get(cv2.cv.CV_CAP_PROP_FPS) 248 fps = capture.get(cv2.CAP_PROP_FPS)
258 capture.release() 249 capture.release()
259 return fps 250 return fps
260 else: 251 else:
261 print('Video capture for {} failed'.format(videoFilename)) 252 print('Video capture for {} failed'.format(videoFilename))
262 return None 253 return None
298 colorType = 'colorblind' 289 colorType = 'colorblind'
299 else: 290 else:
300 colorType = 'default' 291 colorType = 'default'
301 292
302 capture = cv2.VideoCapture(videoFilename) 293 capture = cv2.VideoCapture(videoFilename)
303 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) 294 width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
304 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) 295 height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
305 296
306 windowName = 'frame' 297 windowName = 'frame'
307 if rescale == 1.: 298 if rescale == 1.:
308 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) 299 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
309 300
311 [map1, map2], newCameraMatrix = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) 302 [map1, map2], newCameraMatrix = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
312 if capture.isOpened(): 303 if capture.isOpened():
313 key = -1 304 key = -1
314 ret = True 305 ret = True
315 frameNum = firstFrameNum 306 frameNum = firstFrameNum
316 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum) 307 capture.set(cv2.CAP_PROP_POS_FRAMES, firstFrameNum)
317 if lastFrameNumArg is None: 308 if lastFrameNumArg is None:
318 lastFrameNum = float("inf") 309 lastFrameNum = float("inf")
319 else: 310 else:
320 lastFrameNum = lastFrameNumArg 311 lastFrameNum = lastFrameNumArg
321 if nZerosFilenameArg is None: 312 if nZerosFilenameArg is None:
372 key = cv2.waitKey() 363 key = cv2.waitKey()
373 if saveAllImages or saveKey(key): 364 if saveAllImages or saveKey(key):
374 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img) 365 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
375 frameNum += nFramesStep 366 frameNum += nFramesStep
376 if nFramesStep > 1: 367 if nFramesStep > 1:
377 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, frameNum) 368 capture.set(cv2.CAP_PROP_POS_FRAMES, frameNum)
378 cv2.destroyAllWindows() 369 cv2.destroyAllWindows()
379 else: 370 else:
380 print('Cannot load file ' + videoFilename) 371 print('Cannot load file ' + videoFilename)
381 372
382 def computeHomographyFromPDTV(camera): 373 def computeHomographyFromPDTV(camera):
494 if len(objpoints) == 0 or len(imgpoints) == 0: 485 if len(objpoints) == 0 or len(imgpoints) == 0:
495 return None 486 return None
496 try: 487 try:
497 flags = 0 488 flags = 0
498 if fixK2: 489 if fixK2:
499 flags += cv2.cv.CV_CALIB_FIX_K2 490 flags += cv2.CALIB_FIX_K2
500 if fixK3: 491 if fixK3:
501 flags += cv2.cv.CV_CALIB_FIX_K3 492 flags += cv2.CALIB_FIX_K3
502 if zeroTangent: 493 if zeroTangent:
503 flags += cv2.cv.CV_CALIB_ZERO_TANGENT_DIST 494 flags += cv2.CALIB_ZERO_TANGENT_DIST
504 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags) 495 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
505 except NameError: 496 except NameError:
506 return None 497 return None
507 savetxt('intrinsic-camera.txt', camera_matrix) 498 savetxt('intrinsic-camera.txt', camera_matrix)
508 print('error: {}'.format(ret)) 499 print('error: {}'.format(ret))