Python cv2.projectPoints() Examples
The following are 30
code examples of cv2.projectPoints().
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Example #1
| Source File: head_pose_solver.py From talking-head-anime-demo with MIT License | 8 votes |
|
def solve_head_pose(self, face_landmarks):
indices = [17, 21, 22, 26, 36, 39, 42, 45, 31, 35]
image_pts = np.zeros((len(indices), 2))
for i in range(len(indices)):
part = face_landmarks.part(indices[i])
image_pts[i, 0] = part.x
image_pts[i, 1] = part.y
_, rotation_vec, translation_vec = cv2.solvePnP(self.face_model_points,
image_pts,
self.camera_matrix,
self.distortion_coeffs)
projected_head_pose_box_points, _ = cv2.projectPoints(self.head_pose_box_points,
rotation_vec,
translation_vec,
self.camera_matrix,
self.distortion_coeffs)
projected_head_pose_box_points = tuple(map(tuple, projected_head_pose_box_points.reshape(8, 2)))
# Calculate euler angle
rotation_mat, _ = cv2.Rodrigues(rotation_vec)
pose_mat = cv2.hconcat((rotation_mat, translation_vec))
_, _, _, _, _, _, euler_angles = cv2.decomposeProjectionMatrix(pose_mat)
return projected_head_pose_box_points, euler_angles
Example #2
| Source File: video.py From OpenCV-Python-Tutorial with MIT License | 6 votes |
|
def draw_quads(self, img, quads, color = (0, 255, 0)):
img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
img_quads.shape = quads.shape[:2] + (2,)
for q in img_quads:
cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.LINE_AA, shift=2)
Example #3
| Source File: utils.py From robotics-rl-srl with MIT License | 6 votes |
|
def phyPosGround2PixelPos(self, pos_coord_ground, return_distort_image_pos=False):
"""
Transform the physical position in ground coordinate to pixel position
"""
pos_coord_ground = np.array(pos_coord_ground)
if len(pos_coord_ground.shape) == 1:
pos_coord_ground = pos_coord_ground.reshape(-1, 1)
assert pos_coord_ground.shape == (
3, 1) or pos_coord_ground.shape == (2, 1)
homo_pos = np.ones((4, 1), np.float32)
if pos_coord_ground.shape == (2, 1):
# by default, z =0 since it's on the ground
homo_pos[0:2, :] = pos_coord_ground
# (np.random.randn() - 0.5) * 0.05 # add noise to the z-axis
homo_pos[2, :] = 0
else:
homo_pos[0:3, :] = pos_coord_ground
homo_pos = np.matmul(self.ground_2_camera_trans, homo_pos)
pixel_points, _ = cv2.projectPoints(homo_pos[0:3, :].reshape(1, 1, 3), np.zeros((3, 1)), np.zeros((3, 1)),
self.camera_mat, self.dist_coeffs if return_distort_image_pos else None)
return pixel_points.reshape((2, 1))
Example #4
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawBox(camera_parameters, markers, frame):
objpts = np.float32([[0,0,0], [1,0,0], [1,1,0], [0,1,0],
[0,0,1], [1,0,1], [1,1,1], [0,1,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(objpts, rvec, tvec, mtx, dist)
cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[1].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[2].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[3].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[0+4].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1+4].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2+4].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3+4].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
Example #5
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawAxis(camera_parameters, markers, frame):
axis = np.float32([[1,0,0], [0,1,0], [0,0,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(axis, rvec, tvec, mtx, dist)
corners = marker.corners
corner = tuple(corners[0].ravel())
cv2.line(frame, corner, tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, corner, tuple(imgpts[1].ravel()), (0,255,0), 2)
cv2.line(frame, corner, tuple(imgpts[2].ravel()), (255,0,0), 2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(frame, 'X', tuple(imgpts[0].ravel()), font, 0.5, (0,0,255), 2, cv2.LINE_AA)
cv2.putText(frame, 'Y', tuple(imgpts[1].ravel()), font, 0.5, (0,255,0), 2, cv2.LINE_AA)
cv2.putText(frame, 'Z', tuple(imgpts[2].ravel()), font, 0.5, (255,0,0), 2, cv2.LINE_AA)
Example #6
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawAxis(camera_parameters, markers, frame):
axis = np.float32([[1,0,0], [0,1,0], [0,0,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(axis, rvec, tvec, mtx, dist)
corners = marker.corners
corner = tuple(corners[0].ravel())
cv2.line(frame, corner, tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, corner, tuple(imgpts[1].ravel()), (0,255,0), 2)
cv2.line(frame, corner, tuple(imgpts[2].ravel()), (255,0,0), 2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(frame, 'X', tuple(imgpts[0].ravel()), font, 0.5, (0,0,255), 2, cv2.LINE_AA)
cv2.putText(frame, 'Y', tuple(imgpts[1].ravel()), font, 0.5, (0,255,0), 2, cv2.LINE_AA)
cv2.putText(frame, 'Z', tuple(imgpts[2].ravel()), font, 0.5, (255,0,0), 2, cv2.LINE_AA)
Example #7
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawBox(camera_parameters, markers, frame):
objpts = np.float32([[0,0,0], [1,0,0], [1,1,0], [0,1,0],
[0,0,1], [1,0,1], [1,1,1], [0,1,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(objpts, rvec, tvec, mtx, dist)
cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[1].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[2].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[3].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[0+4].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1+4].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2+4].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3+4].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
Example #8
| Source File: getPMatrix.py From AR-BXT-AR4Python with GNU Lesser General Public License v3.0 | 6 votes |
|
def drawBox(self, img):
axis = np.float32([[0,0,0], [0,1,0], [1,1,0], [1,0,0],
[0,0,-1],[0,1,-1],[1,1,-1],[1,0,-1] ])
imgpts, jac = cv2.projectPoints(axis, self.RVEC, self.TVEC, self.MTX, self.DIST)
imgpts = np.int32(imgpts).reshape(-1,2)
# draw pillars in blue color
for i,j in zip(range(4),range(4,8)):
img2 = cv2.line(img, tuple(imgpts[i]), tuple(imgpts[j]),(255,0,0),3)
# draw top layer in red color
outImg = cv2.drawContours(img2, [imgpts[4:]],-1,(0,0,255),3)
return outImg
# Debug Code.
Example #9
| Source File: getPMatrix.py From AR-BXT-AR4Python with GNU Lesser General Public License v3.0 | 6 votes |
|
def drawBox(self, img):
axis = np.float32([[0,0,0], [0,1,0], [1,1,0], [1,0,0],
[0,0,-1],[0,1,-1],[1,1,-1],[1,0,-1] ])
imgpts, jac = cv2.projectPoints(axis, self.RVEC, self.TVEC, self.MTX, self.DIST)
imgpts = np.int32(imgpts).reshape(-1,2)
# draw pillars in blue color
for i,j in zip(range(4),range(4,8)):
img2 = cv2.line(img, tuple(imgpts[i]), tuple(imgpts[j]),(255,0,0),3)
# draw top layer in red color
outImg = cv2.drawContours(img2, [imgpts[4:]],-1,(0,0,255),3)
return outImg
# Debug Code.
Example #10
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawAxis(camera_parameters, markers, frame):
axis = np.float32([[1,0,0], [0,1,0], [0,0,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(axis, rvec, tvec, mtx, dist)
corners = marker.corners
corner = tuple(corners[0].ravel())
cv2.line(frame, corner, tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, corner, tuple(imgpts[1].ravel()), (0,255,0), 2)
cv2.line(frame, corner, tuple(imgpts[2].ravel()), (255,0,0), 2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(frame, 'X', tuple(imgpts[0].ravel()), font, 0.5, (0,0,255), 2, cv2.LINE_AA)
cv2.putText(frame, 'Y', tuple(imgpts[1].ravel()), font, 0.5, (0,255,0), 2, cv2.LINE_AA)
cv2.putText(frame, 'Z', tuple(imgpts[2].ravel()), font, 0.5, (255,0,0), 2, cv2.LINE_AA)
Example #11
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawBox(camera_parameters, markers, frame):
objpts = np.float32([[0,0,0], [1,0,0], [1,1,0], [0,1,0],
[0,0,1], [1,0,1], [1,1,1], [0,1,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(objpts, rvec, tvec, mtx, dist)
cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[1].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[2].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[3].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[0+4].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[1+4].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[2+4].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2)
cv2.line(frame, tuple(imgpts[3+4].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
Example #12
| Source File: debugtools.py From BAR4Py with MIT License | 6 votes |
|
def drawAxis(camera_parameters, markers, frame):
axis = np.float32([[1,0,0], [0,1,0], [0,0,1]]).reshape(-1,3)
mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff
for marker in markers:
rvec, tvec = marker.rvec, marker.tvec
imgpts, jac = cv2.projectPoints(axis, rvec, tvec, mtx, dist)
corners = marker.corners
corner = tuple(corners[0].ravel())
cv2.line(frame, corner, tuple(imgpts[0].ravel()), (0,0,255), 2)
cv2.line(frame, corner, tuple(imgpts[1].ravel()), (0,255,0), 2)
cv2.line(frame, corner, tuple(imgpts[2].ravel()), (255,0,0), 2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(frame, 'X', tuple(imgpts[0].ravel()), font, 0.5, (0,0,255), 2, cv2.LINE_AA)
cv2.putText(frame, 'Y', tuple(imgpts[1].ravel()), font, 0.5, (0,255,0), 2, cv2.LINE_AA)
cv2.putText(frame, 'Z', tuple(imgpts[2].ravel()), font, 0.5, (255,0,0), 2, cv2.LINE_AA)
Example #13
| Source File: tagUtils.py From Apriltag_python with MIT License | 5 votes |
|
def get_pose_point_noroate(H):
"""
将空间坐标转换成相机坐标但是不旋转
Trans the point to camera point but no rotating
:param H: homography
:return:point
"""
rvec, tvec = get_Kmat(H)
point, jac = cv2.projectPoints(src, np.zeros(rvec.shape), tvec, Kmat, disCoeffs)
return np.int32(np.reshape(point,[4,2]))
Example #14
| Source File: video.py From OpenCV-Snapchat-DogFilter with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
def draw_quads(self, img, quads, color = (0, 255, 0)):
img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
img_quads.shape = quads.shape[:2] + (2,)
for q in img_quads:
cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.LINE_AA, shift=2)
Example #15
| Source File: headpose.py From PINTO_model_zoo with MIT License | 5 votes |
|
def get_head_pose(shape,img):
h,w,_=img.shape
K = [w, 0.0, w//2,
0.0, w, h//2,
0.0, 0.0, 1.0]
# Assuming no lens distortion
D = [0, 0, 0.0, 0.0, 0]
cam_matrix = np.array(K).reshape(3, 3).astype(np.float32)
dist_coeffs = np.array(D).reshape(5, 1).astype(np.float32)
# image_pts = np.float32([shape[17], shape[21], shape[22], shape[26], shape[36],
# shape[39], shape[42], shape[45], shape[31], shape[35],
# shape[48], shape[54], shape[57], shape[8]])
image_pts = np.float32([shape[17], shape[21], shape[22], shape[26], shape[36],
shape[39], shape[42], shape[45], shape[31], shape[35]])
_, rotation_vec, translation_vec = cv2.solvePnP(object_pts, image_pts, cam_matrix, dist_coeffs)
reprojectdst, _ = cv2.projectPoints(reprojectsrc, rotation_vec, translation_vec, cam_matrix,
dist_coeffs)
reprojectdst = tuple(map(tuple, reprojectdst.reshape(8, 2)))
# calc euler angle
rotation_mat, _ = cv2.Rodrigues(rotation_vec)
pose_mat = cv2.hconcat((rotation_mat, translation_vec))
_, _, _, _, _, _, euler_angle = cv2.decomposeProjectionMatrix(pose_mat)
return reprojectdst, euler_angle
Example #16
| Source File: head_pose_estimation.py From PINTO_model_zoo with MIT License | 5 votes |
|
def draw_annotation_box(image, rotation_vector, translation_vector, camera_matrix, dist_coeefs, color=(255, 255, 255), line_width=2):
"""Draw a 3D box as annotation of pose"""
point_3d = []
rear_size = 75
rear_depth = 0
point_3d.append((-rear_size, -rear_size, rear_depth))
point_3d.append((-rear_size, rear_size, rear_depth))
point_3d.append((rear_size, rear_size, rear_depth))
point_3d.append((rear_size, -rear_size, rear_depth))
point_3d.append((-rear_size, -rear_size, rear_depth))
front_size = 100
front_depth = 100
point_3d.append((-front_size, -front_size, front_depth))
point_3d.append((-front_size, front_size, front_depth))
point_3d.append((front_size, front_size, front_depth))
point_3d.append((front_size, -front_size, front_depth))
point_3d.append((-front_size, -front_size, front_depth))
point_3d = np.array(point_3d, dtype=np.float).reshape(-1, 3)
# Map to 2d image points
(point_2d, _) = cv2.projectPoints(point_3d, rotation_vector, translation_vector, camera_matrix, dist_coeefs)
point_2d = np.int32(point_2d.reshape(-1, 2))
# Draw all the lines
cv2.polylines(image, [point_2d], True, color, line_width, cv2.LINE_AA)
cv2.line(image, tuple(point_2d[1]), tuple(point_2d[6]), color, line_width, cv2.LINE_AA)
cv2.line(image, tuple(point_2d[2]), tuple(point_2d[7]), color, line_width, cv2.LINE_AA)
cv2.line(image, tuple(point_2d[3]), tuple(point_2d[8]), color, line_width, cv2.LINE_AA)
Example #17
| Source File: headpose.py From edusense with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
def get_head_pose_vector(image, face):
cam_w = image.shape[1]
cam_h = image.shape[0]
c_x = cam_w / 2
c_y = cam_h / 2
f_x = c_x / np.tan(60/2 * np.pi / 180)
f_y = f_x
camera_matrix = np.float32([[f_x, 0.0, c_x],
[0.0, f_y, c_y],
[0.0, 0.0, 1.0] ])
# print("Estimated camera matrix: \n" + str(camera_matrix) + "\n")
#Distortion coefficients
camera_distortion = np.float32([0.0, 0.0, 0.0, 0.0, 0.0])
#Defining the axes
axis = np.float32([[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.5]])
roll_degree = my_head_pose_estimator.return_roll(image, radians=False) # Evaluate the roll angle using a CNN
pitch_degree = my_head_pose_estimator.return_pitch(image, radians=False) # Evaluate the pitch angle using a CNN
yaw_degree = my_head_pose_estimator.return_yaw(image, radians=False) # Evaluate the yaw angle using a CNN
# print("Estimated [roll, pitch, yaw] (degrees) ..... [" + str(roll_degree[0,0,0]) + "," + str(pitch_degree[0,0,0]) + "," + str(yaw_degree[0,0,0]) + "]")
yaw = np.deg2rad(yaw_degree)
#Getting rotation and translation vector
rot_matrix = yaw2rotmat(-yaw[0,0,0]) #Deepgaze use different convention for the Yaw, we have to use the minus sign
#Attention: OpenCV uses a right-handed coordinates system:
#Looking along optical axis of the camera, X goes right, Y goes downward and Z goes forward.
rvec, jacobian = cv2.Rodrigues(rot_matrix)
tvec = np.array([0.0, 0.0, 1.0], np.float) # translation vector
imgpts, jac = cv2.projectPoints(axis, rvec, tvec, camera_matrix, camera_distortion)
p_start = (face[0][0] + int(c_x), face[0][1] + int(c_y))
p_stop = (face[0][0] + int(imgpts[2][0][0]), face[0][1] + int(imgpts[2][0][1]))
return yaw_degree, pitch_degree, roll_degree, p_start, p_stop
Example #18
| Source File: video.py From pi-tracking-telescope with MIT License | 5 votes |
|
def draw_quads(self, img, quads, color = (0, 255, 0)):
img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
img_quads.shape = quads.shape[:2] + (2,)
for q in img_quads:
cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.LINE_AA, shift=2)
Example #19
| Source File: video.py From TecoGAN with Apache License 2.0 | 5 votes |
|
def draw_quads(self, img, quads, color = (0, 255, 0)):
img_quads = cv.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
img_quads.shape = quads.shape[:2] + (2,)
for q in img_quads:
cv.fillConvexPoly(img, np.int32(q*4), color, cv.LINE_AA, shift=2)
Example #20
| Source File: video.py From cvcalib with Apache License 2.0 | 5 votes |
|
def find_reprojection_error(self, i_usable_frame, object_points, intrinsics):
rotation_vector = self.poses[i_usable_frame].rvec
translation_vector = self.poses[i_usable_frame].tvec
img_pts = self.image_points[i_usable_frame]
est_pts = cv2.projectPoints(object_points, rotation_vector, translation_vector,
intrinsics.intrinsic_mat, intrinsics.distortion_coeffs)[0]
rms = math.sqrt(((img_pts - est_pts) ** 2).sum() / len(object_points))
return rms
# TODO: passing in both frame_folder_path and save_image doesn't make sense. Make saving dependent on the former.
Example #21
| Source File: plane_ar.py From PyCV-time with MIT License | 5 votes |
|
def draw_overlay(self, vis, tracked):
x0, y0, x1, y1 = tracked.target.rect
quad_3d = np.float32([[x0, y0, 0], [x1, y0, 0], [x1, y1, 0], [x0, y1, 0]])
fx = 0.5 + cv2.getTrackbarPos('focal', 'plane') / 50.0
h, w = vis.shape[:2]
K = np.float64([[fx*w, 0, 0.5*(w-1)],
[0, fx*w, 0.5*(h-1)],
[0.0,0.0, 1.0]])
dist_coef = np.zeros(4)
ret, rvec, tvec = cv2.solvePnP(quad_3d, tracked.quad, K, dist_coef)
verts = ar_verts * [(x1-x0), (y1-y0), -(x1-x0)*0.3] + (x0, y0, 0)
verts = cv2.projectPoints(verts, rvec, tvec, K, dist_coef)[0].reshape(-1, 2)
for i, j in ar_edges:
(x0, y0), (x1, y1) = verts[i], verts[j]
cv2.line(vis, (int(x0), int(y0)), (int(x1), int(y1)), (255, 255, 0), 2)
Example #22
| Source File: video.py From PyCV-time with MIT License | 5 votes |
|
def draw_quads(self, img, quads, color = (0, 255, 0)):
img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
img_quads.shape = quads.shape[:2] + (2,)
for q in img_quads:
cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.CV_AA, shift=2)
Example #23
| Source File: plane_ar.py From PyCV-time with MIT License | 5 votes |
|
def draw_overlay(self, vis, tracked):
x0, y0, x1, y1 = tracked.target.rect
quad_3d = np.float32([[x0, y0, 0], [x1, y0, 0], [x1, y1, 0], [x0, y1, 0]])
fx = 0.5 + cv2.getTrackbarPos('focal', 'plane') / 50.0
h, w = vis.shape[:2]
K = np.float64([[fx*w, 0, 0.5*(w-1)],
[0, fx*w, 0.5*(h-1)],
[0.0,0.0, 1.0]])
dist_coef = np.zeros(4)
ret, rvec, tvec = cv2.solvePnP(quad_3d, tracked.quad, K, dist_coef)
verts = ar_verts * [(x1-x0), (y1-y0), -(x1-x0)*0.3] + (x0, y0, 0)
verts = cv2.projectPoints(verts, rvec, tvec, K, dist_coef)[0].reshape(-1, 2)
for i, j in ar_edges:
(x0, y0), (x1, y1) = verts[i], verts[j]
cv2.line(vis, (int(x0), int(y0)), (int(x1), int(y1)), (255, 255, 0), 2)
Example #24
| Source File: video.py From PyCV-time with MIT License | 5 votes |
|
def draw_quads(self, img, quads, color = (0, 255, 0)):
img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
img_quads.shape = quads.shape[:2] + (2,)
for q in img_quads:
cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.LINE_AA, shift=2)
Example #25
| Source File: 3D_Cube.py From PyCV-time with MIT License | 5 votes |
|
def cube(img):
#img_in = cv2.imread("Picture 27.jpg")
#img = cv2.resize(img_in,None,fx=0.5, fy=0.5, interpolation = cv2.INTER_CUBIC)
#cv2.imshow('img',img)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
#cv2.imshow('gray',gray)
ret, corners = cv2.findChessboardCorners(gray, (8,7),None)
# print ret,corners
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
objp = np.zeros((7*8,3), np.float32)
objp[:,:2] = np.mgrid[0:8,0:7].T.reshape(-1,2)
#axis = np.float32([[3,0,0], [0,3,0], [0,0,-3]]).reshape(-1,3)
axis = np.float32([[0,0,0], [0,3,0], [3,3,0], [3,0,0],
[0,0,-3],[0,3,-3],[3,3,-3],[3,0,-3] ])
if ret == True:
cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
# Find the rotation and translation vectors.
rvecs, tvecs, inliers = cv2.solvePnPRansac(objp, corners, mtx, dist)
# project 3D points to image plane
imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist)
#print imgpts
img = draw2(img,corners,imgpts)
return img
Example #26
| Source File: cmu_panoptic.py From open_model_zoo with Apache License 2.0 | 5 votes |
|
def _project_3d_keypoints_to_frame(annotations, camera_parameters):
keypoints_2d = []
for annotation in annotations:
pt = cv2.projectPoints(annotation['body'][0:3, :].transpose().copy(),
cv2.Rodrigues(camera_parameters['R'])[0],
camera_parameters['t'],
camera_parameters['K'],
camera_parameters['distCoef'])
pt = np.squeeze(pt[0], axis=1).transpose()
keypoints_2d.append(pt)
return np.array(keypoints_2d)
Example #27
| Source File: pose_estimator.py From VTuber_Unity with MIT License | 5 votes |
|
def draw_annotation_box(self, image, rotation_vector, translation_vector, color=(255, 255, 255), line_width=2):
"""Draw a 3D box as annotation of pose"""
point_3d = []
rear_size = 75
rear_depth = 0
point_3d.append((-rear_size, -rear_size, rear_depth))
point_3d.append((-rear_size, rear_size, rear_depth))
point_3d.append((rear_size, rear_size, rear_depth))
point_3d.append((rear_size, -rear_size, rear_depth))
point_3d.append((-rear_size, -rear_size, rear_depth))
front_size = 100
front_depth = 100
point_3d.append((-front_size, -front_size, front_depth))
point_3d.append((-front_size, front_size, front_depth))
point_3d.append((front_size, front_size, front_depth))
point_3d.append((front_size, -front_size, front_depth))
point_3d.append((-front_size, -front_size, front_depth))
point_3d = np.array(point_3d, dtype=np.float).reshape(-1, 3)
# Map to 2d image points
(point_2d, _) = cv2.projectPoints(point_3d,
rotation_vector,
translation_vector,
self.camera_matrix,
self.dist_coefs)
point_2d = np.int32(point_2d.reshape(-1, 2))
# Draw all the lines
cv2.polylines(image, [point_2d], True, color, line_width, cv2.LINE_AA)
cv2.line(image, tuple(point_2d[1]), tuple(
point_2d[6]), color, line_width, cv2.LINE_AA)
cv2.line(image, tuple(point_2d[2]), tuple(
point_2d[7]), color, line_width, cv2.LINE_AA)
cv2.line(image, tuple(point_2d[3]), tuple(
point_2d[8]), color, line_width, cv2.LINE_AA)
Example #28
| Source File: pose_estimator.py From image_utility with MIT License | 5 votes |
|
def draw_axis(self, img, R, t):
points = np.float32(
[[30, 0, 0], [0, 30, 0], [0, 0, 30], [0, 0, 0]]).reshape(-1, 3)
axisPoints, _ = cv2.projectPoints(
points, R, t, self.camera_matrix, self.dist_coeefs)
img = cv2.line(img, tuple(axisPoints[3].ravel()), tuple(
axisPoints[0].ravel()), (255, 0, 0), 3)
img = cv2.line(img, tuple(axisPoints[3].ravel()), tuple(
axisPoints[1].ravel()), (0, 255, 0), 3)
img = cv2.line(img, tuple(axisPoints[3].ravel()), tuple(
axisPoints[2].ravel()), (0, 0, 255), 3)
Example #29
| Source File: pose_estimator.py From VTuber_Unity with MIT License | 5 votes |
|
def draw_axis(self, img, R, t):
points = np.float32(
[[30, 0, 0], [0, 30, 0], [0, 0, 30], [0, 0, 0]]).reshape(-1, 3)
axisPoints, _ = cv2.projectPoints(
points, R, t, self.camera_matrix, self.dist_coefs)
img = cv2.line(img, tuple(axisPoints[3].ravel()), tuple(
axisPoints[0].ravel()), (255, 0, 0), 3)
img = cv2.line(img, tuple(axisPoints[3].ravel()), tuple(
axisPoints[1].ravel()), (0, 255, 0), 3)
img = cv2.line(img, tuple(axisPoints[3].ravel()), tuple(
axisPoints[2].ravel()), (0, 0, 255), 3)
Example #30
| Source File: plane_ar.py From OpenCV-Python-Tutorial with MIT License | 5 votes |
|
def draw_overlay(self, vis, tracked):
x0, y0, x1, y1 = tracked.target.rect
quad_3d = np.float32([[x0, y0, 0], [x1, y0, 0], [x1, y1, 0], [x0, y1, 0]])
fx = 0.5 + cv2.getTrackbarPos('focal', 'plane') / 50.0
h, w = vis.shape[:2]
K = np.float64([[fx*w, 0, 0.5*(w-1)],
[0, fx*w, 0.5*(h-1)],
[0.0,0.0, 1.0]])
dist_coef = np.zeros(4)
ret, rvec, tvec = cv2.solvePnP(quad_3d, tracked.quad, K, dist_coef)
verts = ar_verts * [(x1-x0), (y1-y0), -(x1-x0)*0.3] + (x0, y0, 0)
verts = cv2.projectPoints(verts, rvec, tvec, K, dist_coef)[0].reshape(-1, 2)
for i, j in ar_edges:
(x0, y0), (x1, y1) = verts[i], verts[j]
cv2.line(vis, (int(x0), int(y0)), (int(x1), int(y1)), (255, 255, 0), 2)
