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
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