class OpenGLGlyphs:
##############################################################초기화
def __init__(self):
# initialise webcam and start thread
self.webcam = Webcam()
self.webcam.start()
self.find = fp()
self.find.set_img('sample.jpg')
self.hei, self.wid = self.webcam.get_frame_shape()[:2]
# initialise cube
# self.d_obj = None
self.img = None
# initialise texture
self.texture_background = None
self.K = None
self.mark_kp = None
self.mark_des = None
self.set_keypoint()
self.new_kp = None
self.mat_kp = None
self.mat_des = None
self.H = None
# self.Rt=None
##############################################################카메라 세팅
def _init_gl(self, Width, Height):
glClearColor(0.0, 0.0, 0.0, 0.0) # 투명도 결정
glClearDepth(1.0) # 깊이 버퍼의 모든 픽셀에 설정될 초기값 지정
glDepthFunc(GL_LESS) # 언제나 새로 들어오는 값이 기준 GL_LESS를 설정했다고 하자. 이 경우에는 새로 들어온 값이
# 이미 저장되어 있는 값 보다 적을 경우에 depth buffer의 값을 새로 들어온 값으로 갱신하겠다,
glEnable(GL_DEPTH_TEST) # 요건 깊이 정보에 따라 이미지를 순서대로 나줌.
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
self.K = my_calibration((Height, Width))
fx = self.K[0, 0]
fy = self.K[1, 1]
fovy = 2 * arctan(0.5 * Height / fy) * 180 / pi
aspect = (float)(Width * fy) / (Height * fx)
# define the near and far clipping planes
near = 0.1
far = 100.0
# set perspective
gluPerspective(fovy, aspect, near, far)
glMatrixMode(GL_MODELVIEW)
# self.d_obj=[OBJ('Rocket.obj')]
glEnable(GL_TEXTURE_2D)
self.texture_background = glGenTextures(1)
# gluPerspective(33.7, 1.3, 0.1, 100.0)
##############################################################marker의 kp, des저장
def set_keypoint(self):
self.find.start()
self.mark_kp, self.mark_des = self.find.get_point()
##############################################################K값 구하기
def _draw_scene(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# get image from webcam
image = self.webcam.get_current_frame()
Rt = self._my_cal(image)
"""
if Rt!=None:
box=ones((self.hei,self.wid),uint8)
H_box=cv2.warpPerspective(box,self.H,(self.wid, self.hei))
image=image*H_box[:,:,newaxis]
image=cv2.drawKeypoints(image,self.mat_kp,flags=cv2.DRAW_MATCHES_FLAGS_DEFAULT)
"""
# convert image to OpenGL texture format
bg_image = cv2.flip(image, 0)
bg_image = Image.fromarray(bg_image)
ix = bg_image.size[0]
iy = bg_image.size[1]
bg_image = bg_image.tobytes("raw", "BGRX", 0, -1)
# create background texture
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, self.wid, self.hei, 0, GL_RGBA, GL_UNSIGNED_BYTE, bg_image)
# draw background
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glPushMatrix()
# glTranslatef(0.0,0.0,0.0)
gluLookAt(0.0, 0.0, 12.5, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
self._draw_background()
glPopMatrix()
################Rt를 구해서 매칭되는 이미지가 있는지 판단
if Rt is not None:
self._set_modelview_from_camera(Rt)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_DEPTH_TEST)
glEnable(GL_NORMALIZE)
glClear(GL_DEPTH_BUFFER_BIT)
glMaterialfv(GL_FRONT, GL_AMBIENT, [0.5, 0.5, 0.0, 1.0])
glMaterialfv(GL_FRONT, GL_DIFFUSE, [0.9, 0.9, 0.0, 1.0])
glMaterialfv(GL_FRONT, GL_SPECULAR, [1.0, 1.0, 1.0, 1.0])
glMaterialfv(GL_FRONT, GL_SHININESS, 0.25 * 128.0)
glutSolidTeapot(0.1)
glutSwapBuffers()
##############################################################OpenGL용 Rt변환
def _set_modelview_from_camera(self, Rt):
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
Rx = array([[1, 0, 0], [0, 0, 1], [0, 1, 0]])
# set rotation to best approximation
R = Rt[:, :3]
# change sign of x-axis
R[0, :] = -R[0, :]
# set translation
t = Rt[:, 3]
t[0] = -t[0]
# setup 4*4 model view matrix
M = eye(4)
M[:3, :3] = dot(R, Rx)
M[:3, 3] = t
M[3, :3] = t
# transpose and flatten to get column order
M = M.T
m = M.flatten()
# replace model view with the new matrix
glLoadMatrixf(m)
##############################################################Rt반환
def _my_cal(self, image):
find_H = fp()
find_H.set_cv_img(image)
find_H.start()
kp, des = find_H.get_point()
self.H = self.match_images(self.mark_kp, self.mark_des, kp, des)
if self.H is not None:
cam1 = camera.Camera(hstack((self.K, dot(self.K, array([[0], [0], [-1]])))))
# Rt1=dot(linalg.inv(self.K),cam1.P)
cam2 = camera.Camera(dot(self.H, cam1.P))
A = dot(linalg.inv(self.K), cam2.P[:, :3])
A = array([A[:, 0], A[:, 1], cross(A[:, 0], A[:, 1])]).T
cam2.P[:, :3] = dot(self.K, A)
Rt = dot(linalg.inv(self.K), cam2.P)
return Rt
else:
return None
##############################################################match image
def match_images(self, kp1, des1, kp2, des2):
matcher = cv2.BFMatcher()
match_des = matcher.knnMatch(des1, des2, k=2)
matches = []
matA, matB = [], []
matC = []
for m in match_des:
if m[0].distance < 0.8 * m[1].distance:
matA.append(kp1[m[0].queryIdx])
matB.append(kp2[m[0].trainIdx])
matC.append(des1[m[0].queryIdx])
if len(matA) > 50:
ptsA = float32([m.pt for m in matA])
ptsB = float32([n.pt for n in matB])
H1 = []
H1, status = cv2.findHomography(ptsA, ptsB, cv2.RANSAC, 5.0)
H1 = self.homo_check(H1)
self.mat_kp = array([matB[i] for i in range(status.shape[0]) if status[i] == 1])
self.mat_des = array([matC[i] for i in range(status.shape[0]) if status[i] == 1])
return H1
else:
return None
##############################################################homography check
def homo_check(self, H1):
if self.H is None:
return H1
else:
if cv2.norm(H1, self.H) > 1.0:
return H1
else:
return self.H
def _draw_background(self):
# draw background
glBegin(GL_QUADS)
glTexCoord2f(0.0, 1.0);
glVertex3f(-4.0, -3.0, 0.0)
glTexCoord2f(1.0, 1.0);
glVertex3f(4.0, -3.0, 0.0)
glTexCoord2f(1.0, 0.0);
glVertex3f(4.0, 3.0, 0.0)
glTexCoord2f(0.0, 0.0);
glVertex3f(-4.0, 3.0, 0.0)
glEnd()
glDeleteTextures(1)
def keyboard(self, *args):
if args[0] is GLUT_KEY_UP:
glutDestroyWindow(self.window_id)
self.webcam.finish()
sys.exit()
##############################################################OpenGL창 초기
def main(self):
# setup and run OpenGL
glutInit()
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(self.wid, self.hei)
glutInitWindowPosition(400, 400)
self.window_id = glutCreateWindow(b"OpenGL Glyphs")
self._init_gl(self.wid, self.hei)
glutDisplayFunc(self._draw_scene)
glutIdleFunc(self._draw_scene)
glutSpecialFunc(self.keyboard)
glutMainLoop()
class OpenGLGlyphs:
##############################################################초기화
def __init__(self):
# initialise webcam and start thread
self.webcam = Webcam()
self.webcam.start()
self.find = fp()
self.find.set_img('book.jpg')
self.hei, self.wid = self.webcam.get_frame_shape()[:2]
# initialise cube
self.d_obj = None
self.img = None
# initialise texture
self.texture_background = None
self.K = None
self.mark_kp = None
self.mark_des = None
self.set_keypoint()
self.new_kp = None
self.mat_kp = None
self.mat_des = None
self.H = None
# self.Rt=None
##############################################################카메라 세팅
def _init_gl(self, Width, Height):
glClearColor(0.0, 0.0, 0.0, 0.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
self.K = my_calibration((Height, Width))
fx = self.K[0, 0]
fy = self.K[1, 1]
fovy = 2 * np.arctan(0.5 * Height / fy) * 180 / np.pi
aspect = (float)(Width * fy) / (Height * fx)
# define the near and far clipping planes
near = 0.1
far = 100.0
# set perspective
gluPerspective(fovy, aspect, near, far)
glMatrixMode(GL_MODELVIEW)
glEnable(GL_TEXTURE_2D)
self.texture_background = glGenTextures(1)
##############################################################marker의 kp, des저장
def set_keypoint(self):
self.find.start()
self.mark_kp, self.mark_des = self.find.get_point()
##############################################################K값 구하기
def _draw_scene(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# get image from webcam
image = self.webcam.get_current_frame()
Rt = self._my_cal(image)
# convert image to OpenGL texture format
bg_image = cv2.flip(image, 0)
bg_image = Image.fromarray(bg_image)
ix = bg_image.size[0]
iy = bg_image.size[1]
bg_image = bg_image.tobytes("raw", "BGRX", 0, -1)
# create background texture
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, self.wid, self.hei, 0, GL_RGBA,
GL_UNSIGNED_BYTE, bg_image)
# draw background
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glPushMatrix()
# glTranslatef(0.0,0.0,0.0)
gluLookAt(0.0, 0.0, 12, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
self._draw_background()
glPopMatrix()
################Rt를 구해서 매칭되는 이미지가 있는지 판단
if Rt is not None:
self._set_modelview_from_camera(Rt)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_DEPTH_TEST)
glEnable(GL_NORMALIZE)
glClear(GL_DEPTH_BUFFER_BIT)
ObjLoader("jnu.obj").render_scene()
glutSwapBuffers()
##############################################################OpenGL용 Rt변환
def _set_modelview_from_camera(self, Rt):
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
Rx = np.array([[0.2, 0, 0], [0, 0, 0.2], [0, 0.2, 0]])
# set rotation to best approximation
R = Rt[:, :3]
# change sign of x-axis
R[0, :] = -R[0, :]
# set translation
t = Rt[:, 3]
t[0] = -t[0]
# setup 4*4 model view matrix
M = np.eye(4)
M[:3, :3] = np.dot(R, Rx)
M[:3, 3] = t
M[3, :3] = t
# transpose and flatten to get column order
M = M.T
m = M.flatten()
# replace model view with the new matrix
glLoadMatrixf(m)
##############################################################Rt반환
def _my_cal(self, image):
find_H = fp()
find_H.set_cv_img(image)
find_H.start()
kp, des = find_H.get_point()
self.H = self.match_images(self.mark_kp, self.mark_des, kp, des)
if self.H is not None:
cam1 = camera.Camera(
np.hstack((self.K, np.dot(self.K, np.array([[0], [0],
[-1]])))))
# Rt1=dot(linalg.inv(self.K),cam1.P)
cam2 = camera.Camera(np.dot(self.H, cam1.P))
A = np.dot(np.linalg.inv(self.K), cam2.P[:, :3])
A = np.array([A[:, 0], A[:, 1], np.cross(A[:, 0], A[:, 1])]).T
cam2.P[:, :3] = np.dot(self.K, A)
Rt = np.dot(np.linalg.inv(self.K), cam2.P)
return Rt
else:
return None
##############################################################match image
def match_images(self, kp1, des1, kp2, des2):
matcher = cv2.BFMatcher()
match_des = matcher.knnMatch(des1, des2, k=2)
matches = []
matA, matB = [], []
matC = []
for m in match_des:
if m[0].distance < 0.8 * m[1].distance:
matA.append(kp1[m[0].queryIdx])
matB.append(kp2[m[0].trainIdx])
matC.append(des1[m[0].queryIdx])
if len(matA) > 50:
ptsA = np.float32([m.pt for m in matA])
ptsB = np.float32([n.pt for n in matB])
H1 = []
H1, status = cv2.findHomography(ptsA, ptsB, cv2.RANSAC, 5.0)
H1 = self.homo_check(H1)
self.mat_kp = np.array(
[matB[i] for i in range(status.shape[0]) if status[i] == 1])
self.mat_des = np.array(
[matC[i] for i in range(status.shape[0]) if status[i] == 1])
return H1
else:
return None
##############################################################homography check
def homo_check(self, H1):
if self.H is None:
return H1
else:
if cv2.norm(H1, self.H) > 1.0:
return H1
else:
return self.H
def _draw_background(self):
# draw background
glBegin(GL_QUADS)
glTexCoord2f(0.0, 1.0)
glVertex3f(-4.0, -3.0, 0.0)
glTexCoord2f(1.0, 1.0)
glVertex3f(4.0, -3.0, 0.0)
glTexCoord2f(1.0, 0.0)
glVertex3f(4.0, 3.0, 0.0)
glTexCoord2f(0.0, 0.0)
glVertex3f(-4.0, 3.0, 0.0)
glEnd()
glDeleteTextures(1)
def keyboard(self, *args):
if args[0] == GLUT_KEY_UP:
glutDestroyWindow(self.window_id)
self.webcam.finish()
sys.exit()
##############################################################OpenGL창 초기
def main(self):
# setup and run OpenGL
glutInit()
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(self.wid, self.hei)
glutInitWindowPosition(200, 200)
self.window_id = glutCreateWindow(b"OpenGL Glyphs")
self._init_gl(self.wid, self.hei)
glutDisplayFunc(self._draw_scene)
glutIdleFunc(self._draw_scene)
glutMainLoop()
