def main(self):
''' Screencapture from the webcam frame to get the marker pattern '''
cap = cv2.VideoCapture(0)
if self.mode == 'capture':
while True:
# Capture frame-by-frame
ret, frame = cap.read()
currentFrame = frame.copy()
cv2.namedWindow("choose marker")
cv2.setMouseCallback("choose marker", self.click_and_crop)
# Display the resulting frame
cv2.imshow('choose marker',frame)
# if there are two reference points, then crop the region of interest
# from teh image and display it
if len(self.referencePoints) == 2:
cropImage = currentFrame[self.referencePoints[0][1]:self.referencePoints[1][1], \
self.referencePoints[0][0]:self.referencePoints[1][0]]
cv2.rectangle(currentFrame, self.referencePoints[0], self.referencePoints[1], (0, 255, 0), 2)
# initialize a marker object for the marker
self.roi = ROI(cropImage, self.alg)
cv2.imshow('choose marker',currentFrame)
cv2.waitKey(1000)
cv2.destroyWindow('choose marker')
break
if cv2.waitKey(1) & 0xFF == ord('q'):
cap.release()
cv2.destroyAllWindows()
break
else:
roi = cv2.imread('roi.png')
self.roi = ROI(roi, self.alg)
''' Handling the logic for marker pattern matching '''
cv2.waitKey(100)
matcher = Matcher(self.roi, self.alg, disCoeff, cameraMatrix)
while True:
# Capture frame-by-frame
ret, frame = cap.read()
currentFrame = frame.copy()
mirrorFrame = cv2.resize(frame, (0,0), fx=0.3, fy=0.3)
'''
plt.subplot(2,1,1),plt.imshow(self.roi.image)
plt.subplot(2,1,2),plt.imshow(currentFrame)
plt.show()
'''
cv2.namedWindow('webcam')
cv2.imshow('webcam', currentFrame)
matcher.setFrame(currentFrame)
result = matcher.getCorrespondence()
if result:
# get the corners
(src, dst, corners) = result
else:
# Not enough matching points found
print('Not enough points')
cv2.waitKey(1)
continue
(retvalCorner, rvecCorner, tvecCorner) = matcher.computePose(self.roi.getPoints3d(), corners)
if retvalCorner:
# Set up where to draw the axises of the the cube in the frame
axis = np.float32([[0,0,0], [0,1,0], [1,1,0], [1,0,0], [0,0,-1],[0,1,-1],[1,1,-1],[1,0,-1] ])
'''
cv2.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs
[, imagePoints[, jacobian[, aspectRatio]]])
→ imagePoints, jacobian
'''
# project 3d points to 2d coordinates in the frame coordination
imgpts, jac = cv2.projectPoints(axis, rvecCorner, tvecCorner, cameraMatrix, disCoeff)
# re-draw the frame
currentFrame = cv2.polylines(currentFrame,[np.int32(corners)],True,255,3, cv2.LINE_AA)
currentFrame = self.renderImg(currentFrame, imgpts)
cv2.imshow('webcam', currentFrame)
#plt.subplot(2,1,2),plt.imshow(currentFrame)
#plt.show()
cv2.waitKey(1)
else:
#print('not able to solve pnp')
cv2.waitKey(1)
continue
if cv2.waitKey(1) & 0xFF == ord('q'):
cap.release()
cv2.destroyAllWindows()
break
