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imuImageRotate.py
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imuImageRotate.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Attempts to stablize an image based on the orientation of an IMU.
''' Calibration Defaults
# Each line starts with "calibration type:"
# followed by the x, y and z calibration, separated by a comma.
# Multiplier and Divider are written as "mul/div"
0: 1000/1019, 1000/1009, 1000/1026
1: 33, 19, 40
2: 500/497, 500/511, 500/441
3: 4, 217, 47
4: 5968/5946, 2768/2686, 2451/2440
5: -9, 20, -5, 1670, -3, -7, 5, 2709
'''
''' Magnetometer calibrated with IMU strapped to projector (off).
# Each line starts with "calibration type:"
# followed by the x, y and z calibration, separated by a comma.
# Multiplier and Divider are written as "mul/div"
0: 1000/1019, 1000/1009, 1000/1026
1: 33, 19, 40
2: 500/316, 500/387, 500/528
3: -316, -388, 347
4: 5968/5946, 2768/2686, 2451/2440
5: -9, 20, -5, 1670, -3, -7, 5, 2709
'''
import cv2, math
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu import IMU
class TomIMU:
def __init__(self,host,port,uid,callbackPeriodMS=100):
self.host=host
self.port=port
self.uid=uid
self._imu = IMU(uid) # Create device object
self._ipcon = IPConnection(self.host,self.port) # Create IPconnection to brickd
self._ipcon.add_device(self._imu) # Add device to IP connection
self.ready = True # Don't use device before it is added to a connection
# Set period for quaternion callback (defaults to 100ms)
self._imu.set_quaternion_period(callbackPeriodMS)
# Register quaternion callback
self._imu.register_callback(self._imu.CALLBACK_QUATERNION, self._QuaternionCallback)
self._imu.leds_off() # Turn LEDs off.
self._imu.set_convergence_speed(5) # 5ms convergence.
# Orientation origin and most recent values
q = self._imu.get_quaternion() # Get a temp quaternion from current pose.
self.rel_x = q.x
self.rel_y = q.y
self.rel_z = q.z
self.rel_w = q.w
self.x = q.x
self.y = q.y
self.z = q.z
self.w = q.w
def __destroy__(self):
self._ipcon.destroy()
def _QuaternionCallback(self, x, y, z, w):
""" Records the most recent quaternion orientation values. """
self.x,self.y,self.z,self.w = x,y,z,w
def SetOrientationOrigin(self, origin=None):
""" Resets the orientation origin to the given values, or the latest reading if none. """
if origin is None:
self.rel_x, self.rel_y, self.rel_z, self.rel_w = self.x, self.y, self.z, self.w
else:
self.rel_x, self.rel_y, self.rel_z, self.rel_w = origin
def GetEulerOrientation(self):
x,y,z,w = self.GetQuaternionOrientation()
from math import atan2, asin
roll = atan2(2.0*y*w - 2.0*x*z, 1.0 - 2.0*y*y - 2.0*z*z)
pitch = atan2(2.0*x*w - 2.0*y*z, 1.0 - 2.0*x*x - 2.0*z*z)
yaw = asin(2.0*x*y + 2.0*z*w)
return roll,pitch,yaw
def GetQuaternionOrientation(self):
# Conjugate
x,y,z = -self.x, -self.y, -self.z
w = self.w
# Multiply
wn = w * self.rel_w - x * self.rel_x - y * self.rel_y - z * self.rel_z
xn = w * self.rel_x + x * self.rel_w + y * self.rel_z - z * self.rel_y
yn = w * self.rel_y - x * self.rel_z + y * self.rel_w + z * self.rel_x
zn = w * self.rel_z + x * self.rel_y - y * self.rel_x + z * self.rel_w
return xn,yn,zn,wn
def GetConvergenceSpeed(self):
return self._imu.get_convergence_speed()
def SetConvergenceSpeed(self, speed):
self._imu.set_convergence_speed(speed)
if __name__ == "__main__":
HOST = "localhost"
PORT = 4223
UID = "a4JritAp6Go" # Change to your UID
outputResolution = (848,480)
outputFOV = (45,45) # degrees.
imu = TomIMU(HOST,PORT,UID,1)
print "Press Esc to exit..."
windowName = "IMU Image Stabilization"
cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)# | cv2.GUI_NORMAL) # GUI_NORMAL not supported for some reason?
cv2.resizeWindow(windowName, *outputResolution ) # pico-projector native res.
cam = cv2.VideoCapture(0)
while(1):
ret, frame = cam.read()
output = frame.copy()
output = cv2.resize(output,outputResolution)
r,p,y = imu.GetEulerOrientation()
h, w = frame.shape[:2] # Get height and width of camera frame.
H,W = output.shape[:2] # Get height and width of projector view.
# Rotate image to match IMU:
#rotationMatrix = cv2.getRotationMatrix2D( (w/2,h/2), r*180.0/math.pi, 1.0 )
# Counter-rotate the image (assuming IMU + display
# are ridigly connected, but camera IS NOT):
rotationMatrix = cv2.getRotationMatrix2D( (w/2,h/2), -r*180.0/math.pi, 1.0 )
# Counter-rotate the image (assuming IMU + camera +
# display are rigidly connected) to keep it upright.
#rotationMatrix = cv2.getRotationMatrix2D( (w/2,h/2), -r*2.0*180.0/math.pi, 1.0 )
# Shift the image up/down proportional to the pitch.
udShift = math.floor( (-p*180.0/math.pi / outputFOV[1]) * H )
# Shift the image left/right proportional to the yaw.
lrShift = math.floor( (-y*180.0/math.pi / outputFOV[0]) * W )
#print "U/D: " + str(udShift) + ", L/R: " + str(lrShift)
rotatedFrame = cv2.warpAffine(frame, rotationMatrix, (w,h))
#print "Roll: " + str(r*180.0/math.pi) + ", Pitch: " + str(p*180.0/math.pi) + ", Yaw: " + str(y*180.0/math.pi)
#cv2.imshow(windowName, rotatedFrame)
cv2.rectangle( output, (0,0), (W,H), (0,0,0), -1 ) # Fill window with black.
#output[ (H-h)/2 : H - ((H-h)/2), (W-w)/2 : W - ((W-w)/2) ] = rotatedFrame # Draw frame in centre of output.
tY = min( H, max( 0, (H-h)/2 - udShift ) )
bY = max( 0, min( H, H - ((H-h)/2) - udShift ) )
hY = bY-tY
lX = min( W, max( 0, (W-w)/2 - lrShift ) )
rX = max( 0, min( W, W - ((W-w)/2) - lrShift ) )
wX = rX - lX
if hY > 0 and wX > 0:
if udShift > 0 and lrShift > 0:
output[ tY : bY, lX : rX ] = rotatedFrame[ h-hY : h, w-wX : w ]
elif udShift > 0 and lrShift <= 0:
output[ tY : bY, lX : rX ] = rotatedFrame[ h-hY : h, 0 : wX ]
elif udShift <= 0 and lrShift > 0:
output[ tY : bY, lX : rX ] = rotatedFrame[ 0 : hY, w-wX : w ]
elif udShift <= 0 and lrShift <= 0:
output[ tY : bY, lX : rX ] = rotatedFrame[ 0 : hY, 0 : wX ]
else:
print "humpf"
cv2.imshow(windowName, output)
key = 0xFF & cv2.waitKey(1)
if key == 27: #Esc to quit.
break
elif key == ord(' '): # If spacebar, reset orientation origin.
imu.SetOrientationOrigin()
elif key == ord('+'):
imu.SetConvergenceSpeed( min( 1000, imu.GetConvergenceSpeed() + 5 ) )
print "IMU convergence speed increased to " + str(imu.GetConvergenceSpeed()) + "ms."
elif key == ord('-'):
imu.SetConvergenceSpeed( max( 1, imu.GetConvergenceSpeed() - 5 ) )
print "IMU convergence speed decreased to " + str(imu.GetConvergenceSpeed()) + "ms."
cv2.destroyAllWindows()