noham/Stage-2023
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√(noham)²
2023-07-26 16:46:41 +02:00
parent 07589fde73
commit 684cede1e0
1565 changed files with 12307 additions and 8 deletions
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2
track/calibrated.py
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@@ -18,7 +18,7 @@ mask = (img[:,:,0]==0)*(img[:,:,1]==0)*(img[:,:,2]==255)
ind_px_ground_pts = np.where(mask)
print('ind_px_ground_pts: ', ind_px_ground_pts)
px_ground_pts = np.vstack([ind_px_ground_pts[1],ind_px_ground_pts[0]]).T
print(px_ground_pts)
print('px_ground_pts: ', px_ground_pts)

37
track/extract + calibrated.py
View File

@@ -30,6 +30,11 @@ frame_nb = 0
bleu = (255, 0, 0)
vert = (0, 255, 0)
a = 2.736
b = -51.49521
x = [i for i in range(-10000, 100000)]
y = [a * xi + b for xi in x]
# # Cam part
# img = cv2.imread("track/Sylvain/stage_Noham/stage_Noham/image_vide_pts.png")
# nh,nw,_ = img.shape
@@ -47,7 +52,7 @@ while cap.isOpened():
ret, frame = cap.read()
if ret:
df = pd.read_csv(allfiles[frame_nb], header=None, sep=' ')
ind_px_ground_pts = []
px_ground_pts = []
for index, row in df.iterrows():
class_id, center_x, center_y, bbox_width, bbox_height, object_id = row
@@ -72,28 +77,46 @@ while cap.isOpened():
center_y = (top_left_y + bottom_right_y) // 2
cv2.circle(frame, (center_x, center_y), 5, vert, -1)
ind_px_ground_pts += [center_x, center_y]
px_ground_pts += [[center_x, center_y]]
else :
pass
ind_px_ground_pts = np.array(ind_px_ground_pts)
print('ind_px_ground_pts: ', len(ind_px_ground_pts))
px_ground_pts = np.vstack([ind_px_ground_pts[1],ind_px_ground_pts[0]]).T
# print('px_ground_pts: ', px_ground_pts)
# print('np.arraypx_ground_pts: ', np.array(px_ground_pts))
space_pts = []
for pt in px_ground_pts:
for pt in np.array(px_ground_pts):
space_pts.append(cam.spaceFromImage(pt))
space_pts = np.array(space_pts)
# print('space_pts: ', space_pts)
Xb = 26
Yb = a * Xb + b
Xv = 1
Yv = a
BH = ((space_pts[:,0] - Xb) * Xv) + ((space_pts[:,1] - Yb) * Yv) / np.sqrt( (Xv**2) + (Yv ** 2) )
with open("track/distance.txt", 'a', encoding='utf-8') as file:
file.write('\n' + str(BH))
# resized_frame = cv2.resize(frame, (display_width, display_height))
# cv2.imshow('Frame', resized_frame)
# plt.figure()
#######################
plt.scatter(space_pts[:,0], space_pts[:,1], color="red", s=2)
plt.plot([28.569, 51.681],[26.665, 89.904], color='blue', linestyle='-', linewidth=1)
# plt.plot([28.569, 51.681],[26.665, 89.904], color='blue', linestyle='-', linewidth=1)
plt.plot(x, y, label=f"y = {a}x + {b}", color="black")
plt.scatter(Xb, Yb, color="black", s=20)
# plt.axis("equal")
plt.xlim([0, 100])
plt.ylim([0, 150])