def draw_around_box(image: OrthographicImage, box: Dict[str, List[float]], draw_lines=False) -> None:
bin_border = get_rect(size=box['size'], center=box['center'])
image_border = get_rect(size=[10.0, 10.0, box['size'][2]])
image_pose = Affine(image.pose)
color_divisor = 255 * 255 if image.mat.dtype == np.float32 else 1
bin_border_projection = [image.project((image_pose * p).to_array()) for p in bin_border]
if draw_lines:
color_direction = np.array([0, 255 * 255, 0]) / color_divisor # Green
for i in range(len(bin_border)):
cv2.line(
image.mat, tuple(bin_border_projection[i]),
tuple(bin_border_projection[(i + 1) % len(bin_border)]),
color_direction, 1
)
else:
color = np.array([
max(image.value_from_depth((image_pose * border.inverse()).z) for border in bin_border)
] * 3) / color_divisor
image_border_projection = [image.project((image_pose * p).to_array()) for p in image_border]
cv2.fillPoly(image.mat, np.array([image_border_projection, bin_border_projection]), color)
def draw_around_box(image: OrthographicImage,
box: Dict[str, List[float]],
draw_lines=False) -> None:
bin_border = get_rect(size=box['size'], center=box['center'])
image_border = get_rect(size=[10.0, 10.0, box['size'][2]])
image_pose = Affine(image.pose.x, image.pose.y, -image.pose.z,
image.pose.a, image.pose.b, image.pose.c)
bin_border_projection = [image.project(image_pose * p) for p in bin_border]
color = [
max(
image.value_from_depth((image_pose * border.inverse()).z)
for border in bin_border)
] * 3
if draw_lines:
color_direction = (0, 255 * 255, 0) # Green
for i in range(len(bin_border)):
cv2.line(image.mat, tuple(bin_border_projection[i]),
tuple(bin_border_projection[(i + 1) % len(bin_border)]),
color_direction, 1)
else:
image_border_projection = [
image.project(image_pose * p) for p in image_border
]
cv2.fillPoly(
image.mat,
np.array([image_border_projection, bin_border_projection]), color)
def draw_line(
image: OrthographicImage,
action_pose: Affine,
pt1: Affine,
pt2: Affine,
color,
thickness=1,
reference_pose=None,
) -> None:
action_pose = Frames.get_pose_in_image(action_pose=action_pose, image_pose=Affine(image.pose), reference_pose=reference_pose)
pt1_projection = tuple(image.project((action_pose * pt1).to_array()))
pt2_projection = tuple(image.project((action_pose * pt2).to_array()))
cv2.line(image.mat, pt1_projection, pt2_projection, color, thickness, lineType=cv2.LINE_AA)