def game_over(score):
game_over_screen = draw.get_game_over_surface(score)
ladderboard_screen = draw.get_ladderboard_surface(score)
draw.draw_surface(screen, game_over_screen, 0, 0)
draw.draw_surface(screen, ladderboard_screen, 12, 2)
draw.draw_rectangle(screen, 1, 1, 10, 20)
pygame.display.update()
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
return True
clock.tick(30)
def pause():
pause_screen = draw.get_pause_surface()
instructions_surface = draw.get_instruction_surface()
draw.draw_surface(screen, pause_screen, 0, 0)
draw.draw_surface(screen, instructions_surface, 12, 2)
draw.draw_rectangle(screen, 1, 1, 10, 20)
pygame.display.update()
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_p:
return True
clock.tick(30)
def draw(self, frame, mask, points, output, scale=10, pref=''):
out = draw.draw_rectangle(frame, mask, draw.cyan)
avr_eps = self.get_avr_eps()
for i in range(N):
t0 = time.time()
color = draw.green
if self.eps[i] < avr_eps:
color = draw.red
if self.eps[i] == -1:
color = draw.cyan
pt1 = points[i][0]
pt2 = pt1 + scale * np.array([self.x[i], self.y[i]])
out = draw.draw_point(out, pt1, 1, draw.blue)
out = draw.draw_point(out, pt2, 1, draw.blue)
out = draw.draw_arrow(out, pt1, pt2, color)
tk = time.time()
times.append(tk - t0)
T = (sum(times) / len(times)) * (N - i)
t_min = np.int(T // 60)
t_sec = T % 60
print(pref + 'drawing: {} / {}\t {} min {:.2f} sec'.format(
i, N, t_min, t_sec))
cv2.imwrite(output, out)
def main_menu():
colors = sett.COLORS[2:]
current_color = colors.pop()
time = 0
level = 1
instructions_surface = draw.get_instruction_surface()
menu_screen = draw.get_menu_surface(level, current_color)
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False, level
if event.type == 26:
time += 100
if time == 1000:
current_color = colors.pop()
if colors == []:
colors = sett.COLORS[2:]
menu_screen = draw.get_menu_surface(level, current_color)
time = 0
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
return True, level
if event.key == pygame.K_w:
if level < 10:
level += 1
menu_screen = draw.get_menu_surface(
level, current_color)
if event.key == pygame.K_s:
if level > 1:
level -= 1
menu_screen = draw.get_menu_surface(
level, current_color)
draw.draw_surface(screen, menu_screen, 0, 0)
draw.draw_surface(screen, instructions_surface, 12, 2)
draw.draw_rectangle(screen, 1, 1, 10, 20)
pygame.display.update()
clock.tick(30)
def draw_grid(img, grid):
'''
Draw grid on image by special variable 'grid'.
'''
rows = len(grid)
cols = len(grid[0])
out = img.copy()
for i in range(rows):
for j in range(cols):
pt1 = grid[i][j][0]
pt2 = grid[i][j][1]
out = draw.draw_rectangle(out, [pt1, pt2], color=draw.cyan)
return out
def main():
running = True
main_menu_active = True
pygame.time.set_timer(26, 100)
while running:
if main_menu_active:
running, level = main_menu()
tetrion = Tetrion()
block = blocks.get_random_block()
next_block = blocks.get_random_block()
prepare_next = False
score = 0
time = 0
move_time = 0
move_time_limit = 1000 - (level - 1) * 100
try_move_down = False
try_move_left = False
try_move_right = False
try_rotate = False
drop = False
main_menu_active = False
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
if event.type == 26:
time += 100
move_time += 100
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_a:
try_move_left = True
elif event.key == pygame.K_d:
try_move_right = True
elif event.key == pygame.K_s:
try_move_down = True
elif event.key == pygame.K_p:
running = pause()
elif event.key == pygame.K_r:
try_rotate = True
elif event.key == pygame.K_SPACE:
drop = True
if move_time == move_time_limit:
try_move_down = True
if try_move_right:
if block.check_if_on_edge('right'):
x, y = block.get_coords()
part = tetrion.get_part(x + 1, y)
if block.can_move(part):
block.move_right()
print(block.get_coords())
try_move_right = False
if try_move_left:
if block.check_if_on_edge('left'):
x, y = block.get_coords()
part = tetrion.get_part(x - 1, y)
if block.can_move(part):
block.move_left()
print(block.get_coords())
try_move_left = False
if drop:
while not prepare_next:
if block.check_if_on_edge('bottom'):
x, y = block.get_coords()
part = tetrion.get_part(x, y + 1)
if block.can_move(part):
block.move_down()
else:
prepare_next = True
else:
prepare_next = True
drop = False
move_time = 0
if try_move_down:
if block.check_if_on_edge('bottom'):
x, y = block.get_coords()
part = tetrion.get_part(x, y + 1)
if block.can_move(part):
block.move_down()
else:
prepare_next = True
else:
prepare_next = True
try_move_down = False
move_time = 0
if try_rotate:
x, y = block.get_coords()
part = tetrion.get_part(x, y)
if block.can_rotate(part):
block.rotate()
try_rotate = False
if prepare_next:
tetrion.update_board(block.state, block.y, block.x)
score += tetrion.remove_rows()**2 * 1000
score += 100
block = next_block
next_block = blocks.get_random_block()
prepare_next = False
score_surface = draw.get_text_surface(f'SCORE: {score}')
time_surface = draw.get_text_surface(f'TIME: {time // 1000}')
level_surface = draw.get_text_surface(f'LEVEL: {level}')
next_block_surface = draw.get_text_surface('next block:')
draw.fill_surface(screen, sett.COLORS[1])
draw.draw_squares(tetrion.board, screen)
draw.draw_squares(block.state, screen, block.x, block.y)
draw.draw_squares(next_block.state, screen, 17, 5)
draw.draw_rectangle(screen, 1, 1, 10, 20)
draw.draw_surface(screen, next_block_surface, 12, 4)
draw.draw_surface(screen, score_surface, 12, 8)
draw.draw_surface(screen, level_surface, 12, 9)
draw.draw_surface(screen, time_surface, 12, 10)
if tetrion.is_lost():
running = game_over(score)
main_menu_active = True
pygame.display.update()
clock.tick(30)
def action(method):
video = 'test1.mp4'
cam = cv2.VideoCapture(video)
lengh = np.int(cam.get(cv2.CAP_PROP_FRAME_COUNT))
print(lengh)
_, frame1 = cam.read()
y, x, z = frame1.shape
x1, y1, x2, y2 = x // 3, 3*y//5, 2*x//3, 0.94 * y // 1
p1 = np.array([x1, y1])
p2 = np.array([x2, y2])
mask = [p1, p2]
times = deque(maxlen=lengh)
#times = deque(maxlen=lengh)
for itt in range(lengh):
t0 = time.time()
_, frame2 = cam.read()
if not _:
break
frame2 = draw.draw_rectangle(frame2, mask, color=draw.cyan)
area1 = sf.get_box(frame1, mask)
area2 = sf.get_box(frame2, mask)
y_, x_, z_ = area1.shape
print(y_, x_)
points1 = np.zeros((100, 2), dtype = np.float)
yy0 = 0.02 * y_ // 1
dy = (y_ - 2 * yy0) // 10
xx0 = 0.02 * x_ // 1
dx = (x_ - 2*xx0) // 10
for i in range(10):
for j in range(10):
points1[i][0] = xx0 + i * dx
points1[i][1] = yy0 + j * dy
points1, points2 = pai.find_opt_flow(area1, area2, method=method)
N = len(points1)
N_ = len(points2)
print(' N is {} and {}'.format(N, N_))
out = frame2.copy()
norms = deque(maxlen=N)
for i in range(N):
norms.append(np.linalg.norm(points1[i] - points2[i]))
mid_norm = sum(norms) / N
for i in range(N):
p1 = points1[i] + mask[0]
p2 = points2[i] + mask[0]
if np.linalg.norm(p1 - p2) < mid_norm:
out = draw.draw_point(out, p1, radius=3)
out = draw.draw_point(out, p2, radius=3)
out = draw.draw_arrow(out, p1, p2)
out = draw.draw_text(img=out, pt=(3*x//4, 80), text='points: {}'.format(N),color=draw.blue, font_scale=1, line_type=2)
out = draw.draw_text(img=out, pt=(0, 80), text='{}'.format(itt),color=draw.blue, font_scale=1, line_type=2)
# out = draw.draw_text(out, (3*x//4, 80), text_properties)
# small = cv2.resize(out, (0,0), fx=0.7, fy=0.7)
# cv2.imshow('frame', small)
cv2.imwrite('out/{}.jpg'.format(itt), out)
# #cv2.imshow('area', area)
#
# k = cv2.waitKey(20)
frame1 = frame2
tk = time.time()
times.append(tk - t0)
T = sum(times) / len(times)
T = T * (lengh - itt)
t_min = int(T // 60)
t_sec = T % 60
print('{} min {:.02f} sec'.format(t_min, t_sec))
cv2.destroyAllWindows()
def animate(i):
x1 = x1_list[i]
x2 = x2_list[i]
draw.draw_rectangle(wx[0], wx[1], wy[0], wy[1])
draw.draw_circle(x1[0], x1[1], r1, c1, 0.7)
draw.draw_circle(x2[0], x2[1], r2, c2, 0.7)
def drawing():
gl.glClear(gl.GL_COLOR_BUFFER_BIT) # smaz obsah okna (vybarvi na cerno)
gl.glColor3f(0, 1, 0) # nastav barvu kresleni na zelenu
### Plots the snake body
for i in range(0,len(snake_position)-1):
draw_rectangle(PIECE*snake_position[i][0],PIECE*snake_position[i][1],PIECE*(snake_position[i][0]+1),PIECE*(snake_position[i][1]+1))
### Snake head in blue
gl.glColor3f(0, 0, 1)
draw_rectangle(PIECE*snake_position[-1][0],PIECE*snake_position[-1][1],PIECE*(snake_position[-1][0]+1),PIECE*(snake_position[-1][1]+1))
### Food
draw_rectangle(PIECE*food_position[0],PIECE*food_position[1],PIECE*(food_position[0]+1),PIECE*(food_position[1]+1))
### Score
draw_text(str(N-20),PIECE*SCORE_POSITION[0],PIECE*SCORE_POSITION[1],'left', PIECE*FONT_SIZE)
### Walls
gl.glColor3f(0, 1, 0) # nastav barvu kresleni na zelenu
draw_rectangle(0, 0, PIECE*WALL_THICKNESS, PIECE*HEIGHT)
draw_rectangle(0, 0, PIECE*WIDTH, PIECE*WALL_THICKNESS)
draw_rectangle(PIECE*WIDTH-PIECE*WALL_THICKNESS,0,PIECE*WIDTH,PIECE*HEIGHT)
draw_rectangle(0,PIECE*HEIGHT-PIECE*WALL_THICKNESS,PIECE*WIDTH,PIECE*HEIGHT)
if QUIT_SIGNAL==1:
draw_text('GAME OVER',PIECE*WIDTH//2-PIECE*FONT_SIZE*4,PIECE*HEIGHT//2-PIECE*FONT_SIZE//2,'left', PIECE*FONT_SIZE)
def animate(i):
x1 = x1_list[i]
x2 = x2_list[i]
draw.draw_rectangle(wx[0], wx[1], wy[0], wy[1])
draw.draw_circle(x1[0], x1[1], r1, c1, 0.7)
draw.draw_circle(x2[0], x2[1], r2, c2, 0.7)
def make(video='C://Users//moshe.f//Desktop//TEST//calibration//23.mp4',
m=100, k=100, nf=50, min_number_of_points=5,
out_data=None, out_pic=None):
cam = cv2.VideoCapture(video)
lengh = np.int(cam.get(cv2.CAP_PROP_FRAME_COUNT))
print(lengh)
lk_params = dict(winSize=(15, 15), maxLevel=2, criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.3))
_, frame1 = cam.read()
y, x, z = frame1.shape
# рабочая область
x1, y1, x2, y2 = x // 5, y // 5, 4 * x // 5, 0.92 * y // 1
p1 = np.array([x1, y1])
p2 = np.array([x2, y2])
mask = [p1, p2]
# ___________________
times = deque(maxlen=lengh)
area1 = sf.get_box(frame1, mask)
y_, x_, z_ = area1.shape
# greed points
points1 = np.zeros((m * k, 1, 2), dtype = np.float32)
yy0 = 0.02 * y_ // 1
dy = (y_ - 2 * yy0) // m
xx0 = 0.02 * x_ // 1
dx = (x_ - 2 * xx0) // k
for i in range(m*k):
points1[i][0][0] = xx0 + dx * (i % k)
points1[i][0][1] = yy0 + dy * (i // k)
#______________________
sumX = np.zeros(m*k, dtype=np.float32)
sumY = np.zeros(m*k, dtype=np.float32)
sumX2 = np.zeros(m*k, dtype=np.float32)
sumY2 = np.zeros(m*k, dtype=np.float32)
Num = np.zeros(m*k, dtype=np.int)
avr_x = np.zeros(m*k, dtype=np.float32)
avr_y = np.zeros(m*k, dtype=np.float32)
std_x2 = np.zeros(m*k, dtype=np.float32)
std_y2 = np.zeros(m*k, dtype=np.float32)
eps = np.zeros(m*k, dtype=np.float32)
avr_eps = 0
counter = 0
# data collection
for itt in range(nf):
t0 = time.time()
_, frame2 = cam.read()
area1 = sf.get_box(frame1, mask)
area2 = sf.get_box(frame2, mask)
points2, st, err = cv2.calcOpticalFlowPyrLK(cv2.cvtColor(area1, cv2.COLOR_BGR2GRAY), cv2.cvtColor(area2, cv2.COLOR_BGR2GRAY), points1, None, **lk_params)
for i in range(m*k):
if st[i] == 1:
addX = points2[i][0][0] - points1[i][0][0]
addY = points2[i][0][1] - points1[i][0][1]
Num[i] += 1
sumX[i] += addX
sumY[i] += addY
sumX2[i] += addX ** 2
sumY2[i] += addY ** 2
frame1 = frame2
tk = time.time()
times.append(tk - t0)
if itt % (nf // 10) == 0:
T = (sum(times) / len(times)) * (nf - itt)
t_min = int(T // 60)
t_sec = T % 60
print('{} | {} min {:.02f} sec'.format(itt, t_min, t_sec))
times.clear()
# data analysise
for i in range(m*k):
t0 = time.time()
if Num[i] < min_number_of_points:
eps[i] = -1
else:
avr_x[i] = sumX[i] / Num[i]
avr_y[i] = sumY[i] / Num[i]
std_x2[i] = sumX2[i] / Num[i] - avr_x[i] ** 2
std_y2[i] = sumY2[i] / Num[i] - avr_y[i] ** 2
eps[i] = np.sqrt(std_x2[i] + std_y2[i])
if np.isnan(eps[i]):
sys.exit('Arg sqrt in eps is bad in step {}!!! arg = {}'.format(i, std_x2[i] + std_y2[i]))
tk = time.time()
times.append(tk - t0)
if i % 10 == 0:
T = (sum(times) / len(times)) * (m*k - i)
t_min = np.int(T // 60)
t_sec = T % 60
print('calculate {} | {} min {} sec'.format(i, t_min, t_sec))
times.clear()
with open('trace/eps.txt', 'w') as f:
for i in range(m*k):
f.write('{}\n'.format(eps[i]))
# average eps
avr_eps = avr(eps, -1)
# print(' >>> {} <<< '.format(i))
print('avr_eps = {}'.format(avr_eps))
color = draw.black
frame2 = draw.draw_rectangle(frame2, mask, color=draw.cyan)
#frame2 = sf.get_box(frame2, mask)
if out_pic is not None:
for i in range(m*k):
#print(i, m*k)
t0 = time.time()
th = 2
if eps[i] > avr_eps:
color = draw.red
elif eps[i] == -1:
color = draw.purple
else:
color = draw.green
if np.isnan(eps[i]):
th = 3
color = draw.black
pt1 = points1[i][0] + mask[0]
#dpt = np.array([0, 0])
#if not np.isnan(avr_x[i]) and not np.isnan(avr_y[i]):
dpt = np.array([avr_x[i], avr_y[i]])
pt2 = pt1 + dpt
frame2 = draw.draw_point(frame2, pt1, radius=1, color=draw.blue)
frame2 = draw.draw_point(frame2, pt2, radius=1, color=draw.blue)
frame2 = draw.draw_arrow(frame2, pt2, pt1, color, thickness=th)
#frame2 = draw.draw_text(frame2, pt1, text='({}|{})'.format(i // k, i % k), font_scale=0.25, line_type=1)
tk = time.time()
times.append(tk - t0)
if i % (m*k // 10) == 0:
T = (sum(times) / len(times)) * (m*k - i)
t_min = np.int(T // 60)
t_sec = T % 60
print(' drawing: {} | {} min {} sec'.format(i, t_min, t_sec))
cv2.imwrite(out_pic, frame2)
if out_data is not None:
with open(out_data, 'w') as f:
for i in range(m*k):
line = '{}|{}|{}|{}|{}\n'.format(i // k, i % k, avr_x[i], avr_y[i], eps[i])
f.write(line)
# out = frame2.copy()
# for i in range(N):
# pt1 = pts1[i] + mask[0]
# pt2 = pts2[i] + mask[0]
# out = draw.draw_point(out, pt1, radius=3)
# out = draw.draw_point(out, pt2, radius=3)
# out = draw.draw_arrow(out, pt1, pt2)
# cv2.imwrite('out/{}.jpg'.format(itt), out)
print('done')
return avr_x, avr_y, eps
out = f2.copy()
r_i_sq = sf.get_mahalanobis_distance_sq(pt, m, K_inv)
r_i = np.sqrt(r_i_sq)
# drawing point, arrow and text
text = dict(text='r = ' + str(r_i), font_scale=1, line_type=2,
color=draw.blue)
if r_i_sq > r_sq:
text['color'] = draw.red
out = draw.draw_text(out, (0, 50), **text)
text.pop('text')
text.pop('color')
out = draw.draw_text(out, (0, 80), text='x = ' + str(pt[0]),
color=draw.black, **text)
out = draw.draw_text(out, (0, 110),
text='y = ' + str(pt[1]), color=draw.black, **text)
out = draw.draw_rectangle(out, mask, color=draw.cyan)
out = draw.draw_arrow(out, m, pt)
out = draw.draw_point(out, pt, radius=3, thickness=6,
color=draw.red)
# mahalanobis ellipses
out = draw.draw_mahalanobis_ellipse(out, r, m, K,
color=draw.blue, draw_center_pt = True,
draw_axes = True, draw_extremum_pts = True)
out = draw.draw_mahalanobis_ellipse(out, 3*r, m, K,
color=draw.red, draw_center_pt = False,
draw_axes = False, draw_extremum_pts = False)
p = path + '{:05d}.jpg'.format(i)
cv2.imwrite(p, out)
def drawing():
gl.glClear(gl.GL_COLOR_BUFFER_BIT) # smaz obsah okna (vybarvi na cerno)
gl.glColor3f(0, 1, 0) # nastav barvu kresleni na zelenu
### Plots the snake body
for i in range(0, len(snake_position) - 1):
draw_rectangle(PIECE * snake_position[i][0],
PIECE * snake_position[i][1],
PIECE * (snake_position[i][0] + 1),
PIECE * (snake_position[i][1] + 1))
### Snake head in blue
gl.glColor3f(0, 0, 1)
draw_rectangle(PIECE * snake_position[-1][0],
PIECE * snake_position[-1][1],
PIECE * (snake_position[-1][0] + 1),
PIECE * (snake_position[-1][1] + 1))
### Food
draw_rectangle(PIECE * food_position[0], PIECE * food_position[1],
PIECE * (food_position[0] + 1),
PIECE * (food_position[1] + 1))
### Score
draw_text(str(N - 20), PIECE * SCORE_POSITION[0],
PIECE * SCORE_POSITION[1], 'left', PIECE * FONT_SIZE)
### Walls
gl.glColor3f(0, 1, 0) # nastav barvu kresleni na zelenu
draw_rectangle(0, 0, PIECE * WALL_THICKNESS, PIECE * HEIGHT)
draw_rectangle(0, 0, PIECE * WIDTH, PIECE * WALL_THICKNESS)
draw_rectangle(PIECE * WIDTH - PIECE * WALL_THICKNESS, 0, PIECE * WIDTH,
PIECE * HEIGHT)
draw_rectangle(0, PIECE * HEIGHT - PIECE * WALL_THICKNESS, PIECE * WIDTH,
PIECE * HEIGHT)
if QUIT_SIGNAL == 1:
draw_text('GAME OVER', PIECE * WIDTH // 2 - PIECE * FONT_SIZE * 4,
PIECE * HEIGHT // 2 - PIECE * FONT_SIZE // 2, 'left',
PIECE * FONT_SIZE)
def do():
video_adr = 'input/calibration_video.mp4'
cam = cv2.VideoCapture(video_adr)
_, img = cam.read()
y, x, z = img.shape
x1, y1, x2, y2 = x // 5, 0.45 * y // 1, 4 * x // 5, 0.85 * y // 1
p1_rec = np.array([x1, y1])
p2_rec = np.array([x2, y2])
m_start = np.array([x // 2 - 50, y * 0.4], np.float32)
#mask = [p1_rec, p2_rec]
L = 10_000
LINES = 250
intensity_threshould = 25
rows = 10
cols = 20
weight = 0.1
N = rows * cols
arrow_size_factor = 10
max_cos = np.cos(20 * np.pi / 180)
LINES = 20
img2 = img
grid = cf.get_grid(p1_rec, p2_rec, rows, cols)
for itt_frame in range(4):
img1 = img2
img2 = cam.read()[1]
out = draw.draw_rectangle(img2, [
m_start + np.array([-5, -5], np.float32),
m_start + np.array([5, 5], np.float32)
],
color=draw.cyan)
results = []
time_per_frame = 0
for du_m in range(-5, 5 + 1):
for dv_m in range(-5, 5 + 1):
T = 0
m_temp = m_start + np.array([du_m, dv_m], np.float32)
points, count = mn.get_points(550, 30 * np.pi / 180, LINES,
m_temp)
F_x = collections.deque()
F_y = collections.deque()
F_z = collections.deque()
F_f = collections.deque()
F_o = collections.deque()
vector_result = []
# residuals = collections.deque()
# POINTS = collections.deque()
print('START {} ITERATION'.format(itt_frame))
if not _:
break
print(' START points generation:', end=' ')
t0 = time.time()
pts_filtered = mn.intensity_threshould_filter_of_points(
img1, points, intensity_threshould)
tk = time.time()
print(tk - t0)
T += tk - t0
print(' START optical flow:', end=' ')
t0 = time.time()
mod_pts = mn.modification_points(pts_filtered)
pts1, pts2 = pai.find_opt_flow_lk_with_points(
img1, img2, mod_pts)
tk = time.time()
print(tk - t0)
T += tk - t0
print(' START buildinig of vectors:', end=' ')
t0 = time.time()
for i in range(len(pts1)):
pt1 = pts1[i]
pt2_o = pts2[i]
# POINTS.append(pts1[i])
u = pts1[i][0] - m_temp[0]
v = pts1[i][1] - m_temp[1]
du_x, dv_x = vector_flow_rotation_x(u, v, L)
du_y, dv_y = vector_flow_rotation_y(u, v, L)
du_z, dv_z = vector_flow_rotation_z(u, v)
du_f, dv_f = vector_flow_forward(u, v, L)
F_x.append([du_x, dv_x])
F_y.append([du_y, dv_y])
F_z.append([du_z, dv_z])
F_f.append([du_f, dv_f])
F_o.append(pts2[i] - pts1[i])
tk = time.time()
print(tk - t0)
T += tk - t0
print(' START calculations:', end=' ')
t0 = time.time()
M = np.zeros((4, 4), np.float32)
V = np.zeros(4, np.float32)
for i in range(len(F_f)):
M[0][0] += F_x[i][0]**2 + F_x[i][1]**2
M[0][1] += F_x[i][0] * F_y[i][0] + F_x[i][1] * F_y[i][1]
M[0][2] += F_x[i][0] * F_z[i][0] + F_x[i][1] * F_z[i][1]
M[0][3] += F_x[i][0] * F_f[i][0] + F_x[i][1] * F_f[i][1]
M[1][1] += F_y[i][0]**2 + F_y[i][1]**2
M[1][2] += F_y[i][0] * F_z[i][0] + F_y[i][1] * F_z[i][1]
M[1][3] += F_y[i][0] * F_f[i][0] + F_y[i][1] * F_f[i][1]
M[2][2] += F_z[i][0]**2 + F_z[i][1]**2
M[2][3] += F_z[i][0] * F_f[i][0] + F_z[i][1] * F_f[i][1]
M[3][3] += F_f[i][0]**2 + F_f[i][1]**2
V[0] += F_o[i][0] * F_x[i][0] + F_o[i][1] * F_x[i][1]
V[1] += F_o[i][0] * F_y[i][0] + F_o[i][1] * F_y[i][1]
V[2] += F_o[i][0] * F_z[i][0] + F_o[i][1] * F_z[i][1]
V[3] += F_o[i][0] * F_f[i][0] + F_o[i][1] * F_f[i][1]
for i in range(4):
for j in range(i):
M[i][j] = M[j][i]
A_x, A_y, A_z, B = np.linalg.solve(M, V)
tk = time.time()
print(tk - t0)
T += tk - t0
print(' START drawing:', end=' ')
t0 = time.time()
summ = 0
counter = 0
for i in range(len(pts1)):
pt = pts1[i]
vvx = A_x * np.array(F_x[i], np.float32)
vvy = A_y * np.array(F_y[i], np.float32)
vvz = A_z * np.array(F_z[i], np.float32)
vvf = B * np.array(F_f[i], np.float32)
pt2_v = vvx + vvy + vvz + vvf
pt2_o = F_o[i]
r = pt2_o - pt2_v
norm_r = np.linalg.norm(r)
vector_result.append(norm_r)
summ += norm_r
counter += 1
# with open('out/rotations/{}_{}/data.txt'.format(du_m, dv_m), 'a') as f:
# f.write('{} / {} = {} | summ = {}\n'.format(summ, counter, summ / counter, summ))
tk = time.time()
print(tk - t0)
T += tk - t0
t0 = time.time()
print(' Modification of points of infinity:', end=' ')
tk = time.time()
print(tk - t0)
T += tk - t0
print('TIME: {} min {:02.02f} sec'.format(
int((T) // 60), (T) % 60))
results.append([summ, m_temp])
# with open('out/rotations/frame{}.txt'.format(itt_frame), 'a') as file:
# file.write('{}|{}|{}|{}\n'.format(du_m, dv_m, summ, counter))
time_per_frame += T
vector_result.sort()
LEN = int(0.9 * len(vector_result))
counter = 0
summ = 0
for i in range(LEN):
counter += 1
summ += vector_result[i]
with open('out/rotations/frame{}.txt'.format(itt_frame),
'a') as file:
file.write('{}|{}|{}|{}\n'.format(du_m, dv_m, summ,
counter))
r = min(results)
print('END FRAME ANALISYS: {} min {:02.04f} sec'.format(
int(time_per_frame // 60), time_per_frame % 60))
out = draw.draw_arrow(out, m_start, r[1])
cv2.imwrite('out/rotations/{}.jpg'.format(itt_frame), out)
m_start = (1 - weight) * m_start + weight * r[1]