Exemple #1
0
def main():
    fourcc = cv2.VideoWriter_fourcc(*'XVID')
    # outGrid = cv2.VideoWriter('sep/0_0.grid.avi', fourcc, 20.0, (1280, 720))
    outFull = cv2.VideoWriter('sep/full.avi', fourcc, 20.0, (1280, 720))
    cap = cv2.VideoCapture('sep/0_0.avi')
    # outGrid = cv2.VideoWriter('sep/25_68351.grid.avi',fourcc, 20.0, (1280,720))
    # outFull = cv2.VideoWriter('sep/25_68351.full.avi',fourcc, 20.0, (1280,720))
    # cap = cv2.VideoCapture('sep/25_68351.avi')
    fn = 0
    ret, iframe = cap.read()
    H, W, _ = iframe.shape
    M = np.dot(initM(), np.linalg.inv(visM()))
    M = np.array(
        [[4., 0, -2000.], [0, 4., - 1200.], [0, 0, 1]])
    #M = np.eye(3)
    bg = np.zeros_like(iframe)

    prev = cv2.warpPerspective(iframe, M, (W, H),
                               flags=cv2.WARP_INVERSE_MAP,
                               borderMode=cv2.BORDER_CONSTANT,
                               borderValue=(0, 0, 0))
    # prev = cv2.Canny(iframe, 100, 255, apertureSize=3)
    # prev[565:650, 240:950] = 0
    # cv2.circle(prev, (1042, 620), 29, 0, -1)
    # params = np.array([ [1.1, .9, 1.2], [.9, 1.1, 1.2], [.9, .9, 1] ])
    blank = np.zeros((H, W)).astype(np.uint8)
    bgMask = cv2.warpPerspective(blank, M, (W, H),
                                 flags=cv2.WARP_INVERSE_MAP,
                                 borderMode=cv2.BORDER_CONSTANT,
                                 borderValue=255)
    bgMask = cv2.bitwise_not(bgMask)
    while(cap.isOpened()):
        ret, frame = cap.read()
        if not ret:
            break
        fn += 1
        if fn % 30 != 0:
            continue

        img, dm = siftFeature(prev, frame, bgMask)
        if dm is None:
            continue
        M = np.dot(dm, M)
        M = M / M[2, 2]
        print M
        proj = cv2.warpPerspective(frame, dm, (W, H),
                                   flags=cv2.WARP_INVERSE_MAP,
                                   borderMode=cv2.BORDER_CONSTANT,
                                   borderValue=(0, 0, 0))
        mask = cv2.warpPerspective(blank, dm, (W, H),
                                   flags=cv2.WARP_INVERSE_MAP,
                                   borderMode=cv2.BORDER_CONSTANT,
                                   borderValue=255)
        fmask = cv2.bitwise_not(mask)
        bgMask = cv2.bitwise_or(bgMask, fmask)
        if fn == 1:
            bg = proj.copy()
        else:
            T = cv2.bitwise_or(bg, proj, mask=mask)
            bg = cv2.bitwise_and(proj, proj, mask=fmask)
            bg = cv2.bitwise_or(bg, T)
        prev = bg
        while False:
            cv2.imshow('img', img)
            cv2.imshow('proj', proj)
            cv2.imshow('mask', bgMask)
            key = cv2.waitKey(5) & 0xFF
            if key == ord('q'):
                return
            if key == ord('a'):
                break
            if key == ord('c'):
                break
        cv2.imshow('proj', proj)
        cv2.imshow('mask', bgMask)
        cv2.imshow('bg', bg)
        outFull.write(bg)
        key = cv2.waitKey(5) & 0xFF
        if key == ord('q'):
            return
Exemple #2
0
def main():
    fourcc = cv2.VideoWriter_fourcc(*'XVID')
    #outGrid = cv2.VideoWriter('sep/0_0.grid.avi', fourcc, 20.0, (1280, 720))
    #outFull = cv2.VideoWriter('sep/0_0.full.avi', fourcc, 20.0, (1280, 720))
    #cap = cv2.VideoCapture('sep/0_0.avi')
    #outGrid = cv2.VideoWriter('sep/25_68351.grid.avi',fourcc, 20.0, (1280,720))
    #outFull = cv2.VideoWriter('sep/25_68351.full.avi',fourcc, 20.0, (1280,720))
    cap = cv2.VideoCapture('sep/25_68351.avi')
    fn = 0
    ret, iframe = cap.read()
    H, W, _ = iframe.shape
    tpl = template()
    M = initM()

    visTpl = cv2.warpPerspective(tpl, visM(), (1280, 720))
    cRot = cv2.warpPerspective(tpl, M, (1280, 720))
    fullCourt = []
    fullImg = np.zeros_like(iframe)

    m = np.eye(3)
    tic = time.clock()
    MS = [M]
    Theta = 10
    #params = np.array([ [1.1, .9, 1.2], [.9, 1.1, 1.2], [.9, .9, 1] ])
    while(cap.isOpened()):
        ret, frame = cap.read()
        if not ret:
            break

        fn += 1
        # if fn%2 == 0: continue
        # if fn % 6 == 0: continue
        frameHSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        threshColor = cv2.inRange(
            frameHSV, np.array([0, 47, 151]), np.array([16, 255, 255]))
        threshColor = cv2.morphologyEx(
            threshColor, cv2.MORPH_OPEN, np.ones((3, 3), np.uint8))
        edges = cv2.Canny(threshColor, 200, 255, apertureSize=3)
        edges[565:650, 240:950] = 0
        #frame[565:650, 240:950] = 0
        cv2.circle(edges, (1042, 620), 29, 0, -1)

        dstIdx = cv2.findNonZero(edges).reshape(-1, 2)
        if len(dstIdx) < 5000:
            MS.append(MS[-1])
            continue
        nbrs = NearestNeighbors(
            n_neighbors=1, radius=1.0, algorithm='auto').fit(dstIdx)

        cnt = Theta
        converge = 100

        while cnt:
            img = frame.copy()
            cnt -= 1
            #blank = np.zeros_like(frame)

            cv2.warpPerspective(tpl, np.dot(m, M), (W, H), dst=cRot)
            # if len(nKeys) < 8000: break
            if fn  == 1 :
                oKeys, nKeys = neighbors(cRot, dstIdx, nbrs, d=10)
                dm, ret = cv2.findHomography(oKeys, nKeys, method=cv2.LMEDS)
            else:
                oKeys, nKeys = neighbors(cRot, dstIdx, nbrs, d=10)
                dm = estimate(oKeys, nKeys)
                #dm = ransac(oKeys, nKeys)
            
            print dm
            #import ipdb;
            # ipdb.set_trace()
            if dm is None:
                dm = np.eye(3)

            #converge = np.linalg.norm(dm - np.eye(3))

            # if converge < 0.45:
             #   break
            #dm = 1.2 * (dm - np.eye(3)) + np.eye(3)
            m = np.dot(dm, m)
            m = m / m[2, 2]
            img[...,1] = cv2.bitwise_or(cRot, img[...,1])
            for o, n in zip(oKeys, nKeys):
                cv2.line(img, (o[0], o[1]), (n[0], n[1]), (255,255,255), 1)
            while False:
                cv2.imshow('edges', edges)
                key = cv2.waitKey(5) & 0xFF
                if key == ord('q'):
                    return
                if key == ord('a'):
                    break
                if key == ord('c'):
                    cnt = False
                    break

        M = np.dot(m, M)
        M = M / M[2, 2]
        MS.append(M)

        alpha = np.sqrt(m[0, 2] * m[2, 0])
        gamma = np.sqrt(-m[1, 2] * m[2, 1])
        f = - m[1, 2] / gamma
        r = m[0, 2] / (alpha * f)

        # print converge
        # print 50 - cnt
        if fn > 2:
            m = .6 * (m - np.eye(3)) + np.eye(3)
        else:
            m = np.eye(3)
        img[..., 1] = cv2.bitwise_or(cRot, img[..., 1])

        inv = cv2.warpPerspective(frame, np.dot(M, np.linalg.inv(visM())),
                                  (W, H), flags=cv2.WARP_INVERSE_MAP,
                                  borderMode=cv2.BORDER_CONSTANT,
                                  borderValue=(0, 0, 0))
        fmask = cv2.warpPerspective(np.zeros_like(cRot),
                                    np.dot(M, np.linalg.inv(visM())),
                                    (W, H), flags=cv2.WARP_INVERSE_MAP,
                                    borderMode=cv2.BORDER_CONSTANT,
                                    borderValue=255)
        #inv[...,1] = cv2.bitwise_or(visTpl, inv[...,1])

        fullT1 = cv2.bitwise_and(fullImg, fullImg, mask=fmask)

        fullImg = cv2.addWeighted(fullImg, 0.99, inv, 0.01, 0.45)
        #fullImg = inv.copy()
        fmaskI = cv2.bitwise_not(fmask)
        fullImg = cv2.bitwise_or(fullImg, fullT1)

        visImg = cv2.bitwise_and(inv, inv, mask=fmaskI)
        bg = cv2.bitwise_and(fullImg, fullImg, mask=fmask)
        visImg = cv2.add(visImg, bg)
        visImg[..., 1] = cv2.bitwise_or(visTpl, visImg[..., 1])
        toc = time.clock()

        # sys.stdout.write("\rI[%s] #%s %.4f %.4f sec/frame\n" %
        #                  (Theta - cnt, fn, converge, (toc - tic) / fn))
        # sys.stdout.write("\r%.4f %.4f %.4f %.4f" % (alpha, gamma, f, r))
        # sys.stdout.flush()
        cv2.putText(img, "[%d]#f %d %.2f %.2f sec/frame" % (Theta - cnt, fn, converge,
                                                            (toc - tic) / fn), (10, 30), FONT, 1, (255, 255, 255), 1, cv2.LINE_AA)
        cv2.imshow('frame', img)
        cv2.putText(visImg, "[%d]#f %d %.2f %.2f sec/frame" % (Theta - cnt, fn, converge,
                                                               (toc - tic) / fn), (10, 600), FONT, 1, (255, 255, 255), 1, cv2.LINE_AA)
        cv2.imshow('inv', visImg)
        key = cv2.waitKey(1) & 0xFF
        if key == ord('q'):
            return
        # outGrid.write(img)
        # outFull.write(visImg)
    MS = np.array(MS)