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create_3d_bb.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Tue Aug 18 21:03:38 2020
@author: karas
"""
import operator
import cv2
import numpy as np
# import time
# from sympy.geometry import *
import skgeom as sg
from change_detection_bb_YOLO import Detects
# out_left = cv2.VideoWriter('single_person_left.avi',cv2.VideoWriter_fourcc(*'mp4v'), 25, (1920, 1080))
# out_right = cv2.VideoWriter('single_person_right.avi',cv2.VideoWriter_fourcc(*'mp4v'), 25, (1920, 1080))
# projection_matrixR = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/projection_matrixR.npy')
# projection_matrixL = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/projection_matrixL.npy')
# rotationL = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/rotation_matrixL.npy')
# rotationR = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/rotation_matrixR.npy')
# mtxL = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/left_camera.npy')
# mtxR = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/right_camera.npy')
# tvecs4 = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/tvecs4.npy')
# tvecs3 = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/tvecs3.npy')
def triangulate_3d(L, R,
left_projected_2D,
right_projected_2D,
three_d,
tvecs4 = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/tvecs4.npy'),
rvecs4 = cv2.Rodrigues(np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/rotation_matrixL.npy'))[0],
camera4 = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/left_camera.npy'),
dist4 = np.zeros((1,5)),
tvecs3 = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/tvecs3.npy'),
rvecs3 = cv2.Rodrigues(np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/rotation_matrixR.npy'))[0],
camera3 = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/right_camera.npy'),
dist3 = np.zeros((1,5)),
# dist = np.load('se_ligo4_distortion.npy'),
projL = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/left_camera_info/projection_matrixL.npy'),
projR = np.load('C:/Users/vero pc/Desktop/ΔΙΠΛΩΜΑΤΙΚΗ_lastTry/right_camera_info/projection_matrixR.npy')
):
for i in L:
for j in R:
### left camera
# 3D points up
final_points = cv2.triangulatePoints(projL, projR, i, j)
final_points = final_points[:3, :] / final_points[3, :]
t3Dpoints = np.around(final_points, 3).T
three_d.append(t3Dpoints)
# 2D points up
left_2Dpoints_up = np.int32(cv2.projectPoints(t3Dpoints, rvecs4, tvecs4, camera4, dist4)[0])
# # 3D points down
# left_3Dpoints_down = np.array([[t3Dpoints[0, 0], t3Dpoints[0, 1], (t3Dpoints[0, 2] / t3Dpoints[0,2]) - 0.3]])
# # 2D points down
# left_2Dpoints_down = np.int32(cv2.projectPoints(left_3Dpoints_down, rvecs4, tvecs4, camera4, dist4)[0])
# projected_2D.append(left_2Dpoints_up)
left_projected_2D.append(left_2Dpoints_up)
# left_down_projected_2D.append(left_2Dpoints_down)
## Right camera
# 2D points up
right_2Dpoints_up = np.int32(cv2.projectPoints(t3Dpoints, rvecs3, tvecs3, camera3, dist3)[0])
# 2D points down
# right_2Dpoints_down = np.int32(cv2.projectPoints(left_3Dpoints_down, rvecs3, tvecs3, camera3, dist3)[0])
# projected_2D.append(left_2Dpoints_up)
right_projected_2D.append(right_2Dpoints_up)
# right_down_projected_2D.append(right_2Dpoints_down)
def making_3d_bb(boxes_3d, frames, number, line, lines_table, all_3d):
for num, (one_3d, bbox_3d) in enumerate(zip(all_3d, boxes_3d )):
for i in range(8):
cv2.circle(frames[number], (bbox_3d[i][0], bbox_3d[i][1]), 6, (25,50,190), -1)
for i in range(4):
point_1_ = bbox_3d[2 * i]
point_2_ = bbox_3d[2 * i + 1]
cv2.line(frames[number], (point_1_[0], point_1_[1]), (point_2_[0], point_2_[1]), (255, 0, 0), 2)
point_1 = one_3d[2 * i]
point_2 = one_3d[2 * i + 1]
line1 = sg.Segment2(sg.Point2(float(point_1[0]), float(point_1[1])), sg.Point2(float(point_2[0]), float(point_2[1])))
line.append(line1)
for i in range(4):
point_1_ = bbox_3d[i]
point_2_ = bbox_3d[i + 4]
cv2.line(frames[number], (point_1_[0], point_1_[1]), (point_2_[0], point_2_[1]), (255, 0, 0), 2)
point_1 = one_3d[i]
point_2 = one_3d[i+4]
line2 = sg.Segment2(sg.Point2(float(point_1[0]), float(point_1[1])), sg.Point2(float(point_2[0]), float(point_2[1])))
line.append(line2)
for i in range(2):
point_1_ = bbox_3d[i]
point_2_ = bbox_3d[i + 2]
cv2.line(frames[number], (point_1_[0], point_1_[1]), (point_2_[0], point_2_[1]), (255, 0, 0), 2)
point_1 = one_3d[i]
point_2 = one_3d[i+2]
line3 = sg.Segment2(sg.Point2(float(point_1[0]), float(point_1[1])), sg.Point2(float(point_2[0]), float(point_2[1])))
line.append(line3)
for i in range(4,6):
point_1_ = bbox_3d[i]
point_2_ = bbox_3d[i + 2]
cv2.line(frames[number], (point_1_[0], point_1_[1]), (point_2_[0], point_2_[1]), (255, 0, 0), 2)
point_1 = one_3d[i]
point_2 = one_3d[i+2]
line4 = sg.Segment2(sg.Point2(float(point_1[0]), float(point_1[1])), sg.Point2(float(point_2[0]), float(point_2[1])))
line.append(line4)
for i in range(8):
point_1_ = bbox_3d[i]
cv2.putText(frames[number], text = f'{i}',org = (point_1_[0],point_1_[1]), fontFace = cv2.FONT_HERSHEY_SIMPLEX, fontScale = 1, color = (21,21,249), thickness = 2)
img_inter = frames[number].copy()
img_dinter = frames[number].copy()
cv2.namedWindow(f'Camera{number}', cv2.WINDOW_NORMAL)
inters = [sg.intersection(i,j) for i in lines_table for j in line]
if not any(inters):
cv2.putText(img_dinter, 'LINES DO NOT INTERSECT', (30,70), cv2.FONT_HERSHEY_DUPLEX, 2, [255, 0, 0], 4)
cv2.imshow(f'Camera{number}', img_dinter)
cv2.imwrite(f'Camera{number}.jpg', img_dinter)
else:
cv2.putText(img_inter, 'LINES ARE BEING INTERSECTED', (30,70), cv2.FONT_HERSHEY_DUPLEX, 2, [0, 0, 255], 4)
cv2.imshow(f'Camera{number}', img_inter)
cv2.imwrite(f'Camera{number}.jpg', img_inter)
def bb(frames,
correlate_results,
detectionsL,
detectionsR,
lines_table):
right_boxes_3d = []
left_boxes_3d = []
alll = []
all_3d = []
detectionsL = [Detects.triangulation_z(i) for i in detectionsL]
detectionsR = [Detects.triangulation_z(i) for i in detectionsR]
[Detects.correlation_distance(i, j) for i in detectionsL for j in detectionsR]
diction = Detects.diction
left_index = set(i[0] for i in diction.keys())
keys_list = list(diction.keys())
last_dict = {}
for l_idx in left_index:
inter_dict = {}
for j in keys_list:
if l_idx == j[0]:
inter_dict[j] = diction[j]
x = min(inter_dict.items(), key = operator.itemgetter(1))[0]
last_dict[x] = diction[x]
# for key in last_dict.keys():
# if key in left_right:
# for key in last_dict.keys():
# tL = left_id[key[0]]
# tR = right_id[key[1]]
for tL in detectionsL:
for tR in detectionsR:
tup = (tL.id, tR.id)
print(tup)
if tup in last_dict.keys():
x1L = tL.x
y1L = tL.y
# left camera - up right point / y1
x2L = tL.x + tL.w
# left camera - down left point
x4L = tL.x
y4L = tL.y + tL.h
# left camera - down right point
x3L = tL.x + tL.w
y3L = tL.y + tL.h
# right camera - up left point
x1R = tR.x
y1R = tR.y
# right camera - up right point / y1
x2R = tR.x + tR.w
# right camera - down left point
x4R = tR.x
y4R = tR.y + tR.h
# right camera - down right point
x3R = tR.x + tR.w
y3R = tR.y + tR.h
Lup = np.array([x2L, y1L, x1L, y1L]).reshape(2,2)
Ldown = np.array([x3L, y3L, x4L, y4L]).reshape(2,2)
Rup = np.array([x2R, y1R, x1R, y1R]).reshape(2,2)
Rdown = np.array([x3R, y3R, x4R, y4R]).reshape(2,2)
left_up_projected_2D = []
left_down_projected_2D = []
right_up_projected_2D = []
right_down_projected_2D = []
up_3d = []
down_3d = []
triangulate_3d(Lup, Rup, left_up_projected_2D, right_up_projected_2D, up_3d)
triangulate_3d(Ldown, Rdown, left_down_projected_2D, right_down_projected_2D, down_3d)
left_unite = left_up_projected_2D + left_down_projected_2D
right_unite = right_up_projected_2D + right_down_projected_2D
threed = up_3d + down_3d
left_boxes_3d.append(np.array(left_unite).reshape(-1, 2))
right_boxes_3d.append(np.array(right_unite).reshape(-1, 2))
threed = np.concatenate(threed, axis = 0)
threed = threed[:, :2]
all_3d.append(threed)
alll = [right_boxes_3d, left_boxes_3d]
lineL = []
lineR = []
for num, i in enumerate(alll):
if num == 0:
making_3d_bb(i, frames, num, lineR, lines_table, all_3d)
else:
making_3d_bb(i, frames, num, lineL, lines_table, all_3d)
else:
print("mpike edw")
continue
# else:
# print('MPIKE EDW')
# cv2.imshow('Camera0', frames[0])
# cv2.imshow('Camera1', frames[1])