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main.py
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main.py
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#!/usr/bin/env python3
# coding: utf-8
# code for OpenGL model/position rendering
# from: https://rdmilligan.wordpress.com/2015/10/15/augmented-reality-using-opencv-opengl-and-blender/
from OpenGL.GL import *
from OpenGL.GLUT import *
from OpenGL.GLU import *
import cv2
from PIL import Image
import numpy as np
from webcam import Webcam
from objloader import *
from aruco_detection import *
from drag import *
from PyQt5 import QtGui
from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
from player import Player
import threading
import WiiModel
class ArucoFootball:
# constants
INVERSE_MATRIX = np.array([[1.0, 1.0, 1.0, 1.0],
[-1.0, -1.0, -1.0, -1.0],
[-1.0, -1.0, -1.0, -1.0],
[1.0, 1.0, 1.0, 1.0]])
def __init__(self, btAddr):
# init needed values
self.btAddr = btAddr
self.player = None
self.texture_background = None
self.set_ids = []
self.set_players = []
self.players = []
self.calc_values()
# initialise webcam and start thread
self.webcam = Webcam()
self.webcam.start()
# connect wiimote and create model
wiiModel = WiiModel.WiiModel(self.btAddr)
# init openGl, Qt and Wiimote
self.initOpenGL()
self.initGUI()
# run wiimote-connection-loop
thread = threading.Thread(target=wiiModel.wiimoteLoop, args=(self.mainWindow, self.cursor))
thread.start()
# run opengl and camera in a thread
thread = threading.Thread(target=glutMainLoop, args=())
thread.start()
# run Qt
self.app.exec_()
def initGUI(self):
self.app = QApplication(sys.argv)
self.mainWindow = MainWindow(self.players)
self.mainWindow.show()
self.set_player_widget = self.mainWindow.listWidgetB
self.unset_player_widget = self.mainWindow.listWidgetA
self.unset_player_widget.itemChanged.connect(self.removeID)
self.mainWindow.setFocus()
self.mainWindow.setWindowTitle("Tactic-Window")
self.mainWindow.resize(600, 800)
self.cursor = QCursor()
def initOpenGL(self):
# setup OpenGL
glutInit()
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(1280, 960)
glutInitWindowPosition(800, 400)
self.window_id = glutCreateWindow("Footballfield")
glutDisplayFunc(self._draw_scene)
glutIdleFunc(self._draw_scene)
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()
gluPerspective(33.7, 1.3, 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
# assign shapes
player_model = "models/football-player-new.obj"
self.player1 = OBJ(player_model, 1)
self.player2 = OBJ(player_model, 2)
self.player3 = OBJ(player_model, 3)
# self.player4 = OBJ(player_model, 4)
# add Players to list
self.players.append(Player("Dani", "1", "player_images/dani-img.jpg", self.player1))
self.players.append(Player("Maxi", "2", "player_images/maxi-img.jpg", self.player2))
self.players.append(Player("Jonas", "3", "player_images/jonas-img.jpg", self.player3))
# self.players.append(Player("Michi", "4", "player_images/michi-img.jpg", self.player4))
# assign texture
glEnable(GL_TEXTURE_2D)
self.texture_background = glGenTextures(1)
# if player removed from list -> remove set id
def removeID(self):
for index in range(self.unset_player_widget.count()):
item = self.unset_player_widget.item(index)
if item:
data = item.data(Qt.UserRole)
if data:
for player in self.players:
if player.number == data[0] and player.marker_num is not None:
self.set_ids.remove(player.marker_num)
player.marker_num = None
# add players to set_players for all players on "Field"
def setChangedListItems(self):
items = []
for index in range(self.set_player_widget.count()):
item = self.set_player_widget.item(index)
if item:
data = item.data(Qt.UserRole)
for player in self.players:
if player.number == data[0]:
items.append(player)
self.set_players = items
def _draw_scene(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# get image from webcam
image = self.webcam.get_current_frame()
# 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, 3, ix, iy, 0, GL_RGBA, GL_UNSIGNED_BYTE, bg_image)
# draw background
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glPushMatrix()
glTranslatef(0.0, 0.0, -10.0)
self._draw_background()
glPopMatrix()
# handle glyphs
image = self._handle_aruco(image)
glutSwapBuffers()
def calc_values(self):
path = 'calib_images/*.jpg'
self.ret, self.mtx, self.dist, self.rvecs, self.tvecs = Tracker.calculate_camera_values(path)
def _handle_aruco(self, image):
img = image
corners, ids, _ = Tracker.preprocess(img)
if np.all(ids is not None):
# check for OpenCV output in different versions
params = aruco.estimatePoseSingleMarkers(corners, 1, self.mtx, self.dist)
if len(params) == 2:
rvec, tvec = params
else:
rvec, tvec, _ = params
else:
return
# set all players to list from "Field"
self.setChangedListItems()
for i in range(len(ids)):
rvecs, tvecs, glyph_name = rvec[i], tvec[i], ids[i][0]
# build view matrix
rmtx = cv2.Rodrigues(rvecs)[0]
view_matrix = np.array([[rmtx[0][0], rmtx[0][1], rmtx[0][2], tvecs[0][0]],
[rmtx[1][0], rmtx[1][1], rmtx[1][2], tvecs[0][1]],
[rmtx[2][0], rmtx[2][1], rmtx[2][2], tvecs[0][2]],
[0.0, 0.0, 0.0, 1.0]])
view_matrix = view_matrix * self.INVERSE_MATRIX
view_matrix = np.transpose(view_matrix)
# load view matrix and draw shape
glPushMatrix()
glLoadMatrixd(view_matrix)
# check if ID is set or not and set it
if ids[i] not in self.set_ids:
for player in self.set_players:
if player.marker_num is None:
player.marker_num = ids[i]
self.set_ids.append(ids[i])
break
# if ID is set project model
for player in self.set_players:
if player.marker_num == ids[i]:
glCallList(player.model.gl_list)
glPopMatrix()
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()
if __name__ == "__main__":
ArucoFootball = ArucoFootball(sys.argv[1])