def openglDrawOnScreenDetection(self, detection, cubeModel, camera):
# Invert OpenGL's (implicit) viewport matrix and set it as the
# projection matrix to allow drawing directly onto the screen in units
# of pixels.
# Note: The viewport matrix has been set previously using:
# glViewport(0, 0, fbs_x, fbs_y);
proj = np.linalg.inv(viewPortMatrix(camera.framebufferSize))
self.openglScene.flatProgram.setUniformMat4('proj', proj)
# print 'proj', proj
# Draw an axis-aligned cube scaled to the size of the detection:
cubeModel.pos = np.array([detection.trans.x, detection.trans.y, 0])
cubeModel.dir = np.array([1, 0, 0])
cubeModel.up = np.array([0, 0, 1])
cubeModel.scale = np.array([detection.size[0], detection.size[1], 0.1])
# p = camera.P*np.mat([0,0,0, 1]).T
# print 'mul', p
# p = p/p[2]
# print 'div', p
# p = camera.project(np.mat([0,0,0, 1]).T)
# cubeModel.pos = np.array([p[0], p[1], 0])
# cubeModel.scale = np.array([5, 5, 0.1])
cubeModel.draw(self.openglScene.flatProgram)
# Reset the projection matrix to the camera's projection matrix:
proj = camera.getOpenGlCameraMatrix()
self.openglScene.flatProgram.setUniformMat4('proj', proj)
def getGroundProjectedDetection(self, detection, camera):
dc = np.array([detection.trans.x, detection.trans.y, 0], np.float32)
dhw = np.array([detection.size[0]*0.5, 0, 0])
dhh = np.array([0, detection.size[1]*0.5, 0])
vertices = [
dc - dhw + dhh,
dc + dhw + dhh,
dc + dhw - dhh,
dc - dhw - dhh
]
vpInv = np.linalg.inv(viewPortMatrix(camera.framebufferSize))
def unvp(u):
x = vpInv*np.row_stack([np.mat(u).T, [1]])
x = x[:3]
# return np.array(x.T)
return np.array([x[0,0], x[1,0], x[2,0]])
vertices = [unvp(v) for v in vertices]
gpverts = [camera.projectPointToGround(v) for v in vertices]
return gpverts
