def change_resize_undist_mode(val):
self.resize_distord = val
if val: #find the right value to crop
self.affine_roi()
else: #find the original roi
_, self.roi = cv2.getOptimalNewCameraMatrix(cameraMatrix= self.camera_intrinsics[0], distCoeffs=self.camera_intrinsics[1], imageSize=self.camera_intrinsics[2], alpha=0.7,newImgSize=self.camera_intrinsics[2],centerPrincipalPoint=1)
self.roi += 0., 0.
init_prev_img()
def __init__(self,g_pool,mode="Show marker IDs",min_marker_perimeter = 40):
super(World_Interaction, self).__init__(g_pool)
self.order = .2
# all markers that are detected in the most recent frame
self.markers = []
init_prev_img()
#load camera intrinsics
try:
camera_calibration = load_object(os.path.join(self.g_pool.user_dir,'camera_calibration'))
except:
self.camera_intrinsics = None
else:
same_name = camera_calibration['camera_name'] == self.g_pool.capture.name
same_resolution = camera_calibration['resolution'] == self.g_pool.capture.frame_size
if same_name and same_resolution:
logger.info('Loaded camera calibration.')
A = camera_calibration['camera_matrix']
dist_coefs = camera_calibration['dist_coefs']
resolution = camera_calibration['resolution']
error = camera_calibration['error']
#roi = region of interrest, where the image have been crop
new_cm, self.roi = cv2.getOptimalNewCameraMatrix(cameraMatrix= A, distCoeffs=dist_coefs, imageSize=resolution, alpha=0.7, newImgSize=resolution, centerPrincipalPoint=1)
self.roi += 0., 0.
self.affine_roi()
self.camera_intrinsics = A,dist_coefs,resolution,error,new_cm
else:
logger.info('Loaded camera calibration but camera name and/or resolution has changed. Please re-calibrate.')
self.camera_intrinsics = None
# all registered markers
self.markers_definitions = Persistent_Dict(os.path.join(g_pool.user_dir,'markers_definitions') )
self.markers = [d for d in self.markers_definitions.get('realtime_square_marker',[]) if isinstance(d,dict)]
#quit if no calibrations
if self.camera_intrinsics == None:
logger.info('Please calibrate first')
self.close()
#plugin state
self.mode = mode
self.running = True
self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
#self.axis = np.float32([[40,0,0], [0,40,0], [0,0,40]]).reshape(-1,3)
self.robust_detection = 1
self.min_marker_perimeter = min_marker_perimeter
self.nb_frame_detection = 10
#for display
self.only_visible_m = True
self.config_markers = 0
self.glIsInit = False
self.show_undistord = False
self.resize_distord = False
#debug vars
self.img_shape = None
self.frame_img = None
self.camera_coord = None #3D position
self.current_gaze_pos = None # in pixel coordinate
self.menu= None
self.button= None
def change_undist_mode(val):
self.show_undistord = val
init_prev_img()
