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bird_eye_transform.py
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bird_eye_transform.py
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# importing required modules
import cv2
import numpy as np
import math
#defining function for click event i.e marks a point on image with red
#where left mouse button is clicked
points =[] #reference points for transformation
coor = [] #reference points to calculate distance and classify
#number of clicks
Click_number = 0
img = None
def click_event(event, x, y, flags, params):
if event == cv2.EVENT_LBUTTONDOWN:
global Click_number
global img
if(Click_number < 4):
print('Perspective Click ')
print(x, ',', y) #prints out the point for reference
points.append([x,y])
center = (x, y) #center of the dot i.e the point itself
radius = 1 #radius of the dot
cv2.circle(img, center, radius,(0,0,255), 5) #draws the dot on the image
cv2.imshow('image', img)
else:
print('Click for disance reference points')
print(x, ',', y) #prints out the point for reference
coor.append([x,y])
center = (x, y) #center of the dot i.e the point itself
radius = 1 #radius of the dot
cv2.circle(img, center, radius,(255,0,0), 5) #draws the dot on the image
cv2.imshow('image', img)
Click_number+=1
def computeParams(img):
pts1 = np.float32(points)
transformed_points = [[0,0], [300,0], [0,300], [300,300]]
pts2 = np.float32(transformed_points)
transformation_matrix = cv2.getPerspectiveTransform(pts1, pts2)
transformed = cv2.warpPerspective(img, transformation_matrix, (300,300))
distV = np.float32(coor)
result = transform(coor, transformation_matrix)
print(result)
one = result[0]
two = result[1]
distance = math.sqrt( (one[0] - two[0])**2 + (one[1] - two[1])**2 )#diff = one - two
print('Distance Limit in pixels ')
print(distance)
return [transformation_matrix, transformed, distance, points]
def transform(points, M):
points = np.float32(points)
result = cv2.perspectiveTransform(points[None, :, :], M)
print(result.shape)
ret = []
for i in range(0,result.shape[1]):
ret.append(result[0][i])
return ret
def calibrate(vid):
cap = cv2.VideoCapture(vid)
if(cap.isOpened()):
ret, frame = cap.read()
else:
print('No Frame')
cap.release()
global img
img = frame
cv2.imshow('image',img)
cv2.setMouseCallback('image',click_event)
cv2.waitKey(0)
ret = computeParams(img)
cv2.destroyAllWindows()
return ret
if __name__ == "__main__":
ret = calibrate('test.avi')