def projectaxes(frame, camera):
#axis_factor = camera.axis_factor
c0 = np.float32([[0, 0, 0]])
a1 = np.float32([[3, 0, 0]]) #* axis_factor # x
a2 = np.float32([[0, 3, 0]]) #* axis_factor # y
a3 = np.float32([[0, 0, 3]]) #* axis_factor # z
ap1, j = cv2.projectPoints(a1, camera.rotation, camera.translation,
camera.intrinsics, np.float64([0, 0, 0, 0]))
ap2, j = cv2.projectPoints(a2, camera.rotation, camera.translation,
camera.intrinsics, np.float64([0, 0, 0, 0]))
ap3, j = cv2.projectPoints(a3, camera.rotation, camera.translation,
camera.intrinsics, np.float64([0, 0, 0, 0]))
cp0, j = cv2.projectPoints(c0, camera.rotation, camera.translation,
camera.intrinsics, np.float64([0, 0, 0, 0]))
drawaxis(frame, tuple(cp0.ravel().astype(int)),
tuple(ap1.ravel().astype(int)), tuple(ap2.ravel().astype(int)),
tuple(ap3.ravel().astype(int)))
def __creategroundplane(self):
print ''
print 'Creating world plane for ' + self.id
a = np.float32([[[0, 0, 0]]])
for jj in xrange(0, 100, 1):
for ii in xrange(0, 100, 1):
b = np.float32([[[ii - 50, jj - 50, 0]]])
a = np.r_[a, b]
self.plane = a[1:10001]
def __creategroundplane(self):
print ''
print 'Creating world plane for ' + self.id
a = np.float32([[[0, 0, 0]]])
for jj in xrange(0, 100, 1):
for ii in xrange(0, 100, 1):
b = np.float32([[[ii - 50, jj - 50, 0]]])
a = np.r_[a, b]
self.plane = a[1:10001]
def projectaxes(frame, camera):
#axis_factor = camera.axis_factor
c0 = np.float32([[0, 0, 0]])
a1 = np.float32([[3, 0, 0]]) #* axis_factor # x
a2 = np.float32([[0, 3, 0]]) #* axis_factor # y
a3 = np.float32([[0, 0, 3]]) #* axis_factor # z
ap1, j = cv2.projectPoints(
a1,
camera.rotation,
camera.translation,
camera.intrinsics,
np.float64([0, 0, 0, 0])
)
ap2, j = cv2.projectPoints(
a2,
camera.rotation,
camera.translation,
camera.intrinsics,
np.float64([0, 0, 0, 0])
)
ap3, j = cv2.projectPoints(
a3,
camera.rotation,
camera.translation,
camera.intrinsics,
np.float64([0, 0, 0, 0])
)
cp0, j = cv2.projectPoints(
c0,
camera.rotation,
camera.translation,
camera.intrinsics,
np.float64([0, 0, 0, 0])
)
drawaxis(
frame,
tuple(cp0.ravel().astype(int)),
tuple(ap1.ravel().astype(int)),
tuple(ap2.ravel().astype(int)),
tuple(ap3.ravel().astype(int))
)
