def find_main_marker(self, visible_markers):
marker = None
current_score = 0
#the more dist_coeff is, the less main_marker will be distord
dist_coeff = 5
for m in visible_markers:
verts = m['verts']
size = (distance(verts[0], verts[1]) + distance(verts[1], verts[2]) + distance(verts[2], verts[3]) + distance(verts[3], verts[0])) / 4.
vertical_distord = min(distance(verts[0], verts[1])/float(distance(verts[3], verts[2])),distance(verts[3], verts[2])/float(distance(verts[0], verts[1])))
vertical_distord = vertical_distord * vertical_distord
horizontal_distord = min(distance(verts[0], verts[3])/float(distance(verts[1], verts[2])),distance(verts[1], verts[2])/float(distance(verts[0], verts[3])))
horizontal_distord = horizontal_distord * horizontal_distord
distord_res = float(vertical_distord + horizontal_distord)/2
distord_res = np.power(distord_res, dist_coeff)
score = size * distord_res
if score > current_score:
current_score = score
marker = m
if marker != None:
objp = gen_square_pattern_grid(marker['height'])
# Find the rotation and translation vectors.
if not self.show_undistord:
verts = cv2.undistortPoints( marker['verts'], self.camera_intrinsics[0], self.camera_intrinsics[1], P=self.camera_intrinsics[0] )
else:
verts = np.zeros((4,1,2), dtype = np.float64)
for i in range(4):
verts[i][0][0] = marker['verts'][i][0][0] + float(self.roi[0])
verts[i][0][1] = marker['verts'][i][0][1] + float(self.roi[1])
verts = distortPoints(verts, self.camera_intrinsics[0], self.camera_intrinsics[1], new_cm=self.camera_intrinsics[4])
verts = cv2.undistortPoints( verts, self.camera_intrinsics[0], self.camera_intrinsics[1], P=self.camera_intrinsics[0] )
#deduce coordinate of the camera
_, rvecs, tvecs = cv2.solvePnP(objp, verts, self.camera_intrinsics[0], None) #Already undistord, no need to give dist coeffs
self.camera_coord = self.get_camera_coordinate(rvecs, tvecs)
return marker
def update(self,frame,events):
self.img_shape = frame.height,frame.width,3
if self.running:
self.current_gaze_pos = self.get_gaze_pos(events)
#drawing only in undistord image
if self.show_undistord:
self.frame_img = undistord_with_roi(img=frame.img, cm=self.camera_intrinsics[0], dist_coef=self.camera_intrinsics[1], roi=self.roi, new_cm=self.camera_intrinsics[4])
gray = cv2.cvtColor(self.frame_img, cv2.COLOR_BGR2GRAY)
cv2.imshow("test", self.frame_img)
else:
self.frame_img = frame.img
gray = frame.gray
if self.robust_detection:
visible_markers = detect_markers_robust(gray,
grid_size = 5,
prev_markers=self.markers,
min_marker_perimeter=self.min_marker_perimeter,
aperture = 11,
visualize=0,
true_detect_every_frame=3)
else:
visible_markers = detect_markers(gray,
grid_size = 5,
min_marker_perimeter=self.min_marker_perimeter,
aperture = 11,
visualize=0)
for m in self.markers:
m['visible'] = False
self.find_main_marker(visible_markers )
for vm in visible_markers:
#find the index of the visible marker in self.markers
index = -1
for indexList,m in enumerate(self.markers):
if m['id'] == vm['id']:
index = indexList
break
if index == -1: #marker is not registered already
index = len(self.markers)
new_marker = {'id':vm['id'],'verts':vm['verts'],'verts_norm':vm['verts_norm'],'centroid':vm['centroid'],'frames_since_true_detection':0,'height':76,'frames_looked_up_count':0,'obj_name':"None",'obj':None,'mult':1}
self.markers.append(new_marker)
marker = self.markers[index]
marker['verts'] = vm['verts']
marker['verts_norm'] = vm['verts_norm']
marker['centroid'] = vm['centroid']
marker['frames_since_true_detection'] = vm['frames_since_true_detection']
marker['visible'] = True
objp = gen_square_pattern_grid(marker['height'])
# Find the rotation and translation vectors.
_, rvecs, tvecs = cv2.solvePnP(objp, marker['verts'], self.camera_intrinsics[0], None) #Already undistord, no need to give dist coeffs
#if the marker is fixed by the gaze
if self.is_looked_up(marker):
#get the obj to draw
if self.mode == "Draw obj":
if marker['obj'] == None and marker['obj_name'] != "None":
marker['obj'] = OBJ("../ressources/"+marker['obj_name'], marker['mult'], swapyz=True)
marker['rot'] = rvecs
marker['trans'] = tvecs
marker['to_draw'] = True
else : #not fixed
if self.mode == "Draw obj":
marker['to_draw'] = False
if not self.running:
self.button.status_text = 'tracking paused'