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
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)