More consistent naming: always coord_transormations

demos/camera_motion/src/demo.py

@@ -286,7 +286,7 @@ def run():
 
             if args.draw_paths:
                 frame = path_drawer.draw(
-                    frame, tracked_objects, coord_transform=coord_transformations
+                    frame, tracked_objects, coord_transformations=coord_transformations
                 )
 
             if use_fixed_camera:

norfair/drawing/fixed_camera.py

@@ -58,15 +58,15 @@ class FixedCamera:
     >>>     video.write(bigger_frame)
     """
 
-    def __init__(self, scale: float = 2, attenuation: float = 0.05):
+    def __init__(self, scale: float = None, attenuation: float = 0.05):
         self.scale = scale
         self._background = None
         self._attenuation_factor = 1 - attenuation
 
     def adjust_frame(
         self,
         frame: np.ndarray,
-        coord_transformation: Union[
+        coord_transformations: Union[
             HomographyTransformation, TranslationTransformation
         ],
     ) -> np.ndarray:
@@ -77,7 +77,7 @@ def adjust_frame(
         ----------
         frame : np.ndarray
             The OpenCV frame.
-        coord_transformation : TranslationTransformation
+        coord_transformations : Union[TranslationTransformation, HomographyTransformation]
             The coordinate transformation as returned by the [`MotionEstimator`][norfair.camera_motion.MotionEstimator]
 
         Returns
@@ -88,6 +88,12 @@ def adjust_frame(
 
         # initialize background if necessary
         if self._background is None:
+            if self.scale is None:
+                if coord_transformations is None:
+                    self.scale = 1
+                else:
+                    self.scale = 3
+
             original_size = (
                 frame.shape[1],
                 frame.shape[0],
@@ -113,12 +119,12 @@ def adjust_frame(
 
         # warp the frame with the following composition:
         # top_left_translation o rel_to_abs
-        if isinstance(coord_transformation, HomographyTransformation):
+        if isinstance(coord_transformations, HomographyTransformation):
             top_left_translation = np.array(
                 [[1, 0, self.top_left[0]], [0, 1, self.top_left[1]], [0, 0, 1]]
             )
             full_transformation = (
-                top_left_translation @ coord_transformation.inverse_homography_matrix
+                top_left_translation @ coord_transformations.inverse_homography_matrix
             )
             background_with_current_frame = cv2.warpPerspective(
                 frame,
@@ -128,12 +134,12 @@ def adjust_frame(
                 borderMode=cv2.BORDER_CONSTANT,
                 borderValue=(0, 0, 0),
             )
-        elif isinstance(coord_transformation, TranslationTransformation):
+        elif isinstance(coord_transformations, TranslationTransformation):
 
             full_transformation = np.array(
                 [
-                    [1, 0, self.top_left[0] - coord_transformation.movement_vector[0]],
-                    [0, 1, self.top_left[1] - coord_transformation.movement_vector[1]],
+                    [1, 0, self.top_left[0] - coord_transformations.movement_vector[0]],
+                    [0, 1, self.top_left[1] - coord_transformations.movement_vector[1]],
                 ]
             )
             background_with_current_frame = cv2.warpAffine(
@@ -144,12 +150,14 @@ def adjust_frame(
                 borderMode=cv2.BORDER_CONSTANT,
                 borderValue=(0, 0, 0),
             )
-
-        self._background = cv2.addWeighted(
-            self._background,
-            0.5,
-            background_with_current_frame,
-            0.5,
-            0.0,
-        )
-        return self._background
+        try:
+            self._background = cv2.addWeighted(
+                self._background,
+                0.5,
+                background_with_current_frame,
+                0.5,
+                0.0,
+            )
+            return self._background
+        except UnboundLocalError:
+            return frame

norfair/drawing/path.py

@@ -216,7 +216,7 @@ def get_points_to_draw(obj):
         self.path_blend_factor = path_blend_factor
         self.frame_blend_factor = frame_blend_factor
 
-    def draw(self, frame, tracked_objects, coord_transform=None):
+    def draw(self, frame, tracked_objects, coord_transformations=None):
         """
         the objects have a relative frame: frame_det
         the objects have an absolute frame: frame_one
@@ -226,19 +226,19 @@ def draw(self, frame, tracked_objects, coord_transform=None):
          1. top_left is an arbitrary coordinate of some pixel inside background
         logic:
          1. draw track.get_estimate(absolute=True) + top_left, in background
-         2. transform background with the composition (coord_transform.abs_to_rel o minus_top_left_translation). If coord_transform is None, only use minus_top_left_translation.
+         2. transform background with the composition (coord_transformations.abs_to_rel o minus_top_left_translation). If coord_transformations is None, only use minus_top_left_translation.
          3. crop [:frame.width, :frame.height] from the result
          4. overlay that over frame
 
         Remark:
-        In any case, coord_transform should be the coordinate transformation between the tracker absolute coords (as abs) and frame coords (as rel)
+        In any case, coord_transformations should be the coordinate transformation between the tracker absolute coords (as abs) and frame coords (as rel)
         """
 
         # initialize background if necessary
         if self._background is None:
             if self.scale is None:
-                # set the default scale, depending if coord_transform is provided or not
-                if coord_transform is None:
+                # set the default scale, depending if coord_transformations is provided or not
+                if coord_transformations is None:
                     self.scale = 1
                 else:
                     self.scale = 3
@@ -293,12 +293,12 @@ def draw(self, frame, tracked_objects, coord_transform=None):
                 )
 
         # apply warp to self._background with composition abs_to_rel o -top_left_translation to background, and crop [:width, :height] to get frame overdrawn
-        if isinstance(coord_transform, HomographyTransformation):
+        if isinstance(coord_transformations, HomographyTransformation):
             minus_top_left_translation = np.array(
                 [[1, 0, -self.top_left[0]], [0, 1, -self.top_left[1]], [0, 0, 1]]
             )
             full_transformation = (
-                coord_transform.homography_matrix @ minus_top_left_translation
+                coord_transformations.homography_matrix @ minus_top_left_translation
             )
             background_size_frame = cv2.warpPerspective(
                 self._background,
@@ -308,11 +308,11 @@ def draw(self, frame, tracked_objects, coord_transform=None):
                 borderMode=cv2.BORDER_CONSTANT,
                 borderValue=(0, 0, 0),
             )
-        elif isinstance(coord_transform, TranslationTransformation):
+        elif isinstance(coord_transformations, TranslationTransformation):
             full_transformation = np.array(
                 [
-                    [1, 0, coord_transform.movement_vector[0] - self.top_left[0]],
-                    [0, 1, coord_transform.movement_vector[1] - self.top_left[1]],
+                    [1, 0, coord_transformations.movement_vector[0] - self.top_left[0]],
+                    [0, 1, coord_transformations.movement_vector[1] - self.top_left[1]],
                 ]
             )
             background_size_frame = cv2.warpAffine(