fix: complete OpenCV version
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48D331A3D6160354
46
main.py
46
main.py
@ -104,7 +104,7 @@ def visualization(inverse_matrix_M, pokemon):
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coordinate_line_set = o3d.geometry.LineSet()
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coordinate_line_set.points = o3d.utility.Vector3dVector(np.array([[0, 0, 0],[10, 0, 0], [0, 10, 0], [0, 0, 10]]))
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coordinate_line_set.lines = o3d.utility.Vector2iVector(np.array([[0, 1], [0, 2], [0, 3]]))
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coordinate_line_set.colors = o3d.utility.Vector3dVector(np.array([[0, 255, 0], [0, 255, 0],[ 0, 255, 0]]))
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coordinate_line_set.colors = o3d.utility.Vector3dVector(np.array([[255, 0, 0], [0, 255, 0],[ 0, 0, 255]]))
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vis.add_geometry(coordinate_line_set)
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# 化紙張三角形
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@ -113,10 +113,11 @@ def visualization(inverse_matrix_M, pokemon):
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paper_triangle_set.triangles = o3d.utility.Vector3iVector(paper_triangles)
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vis.add_geometry(paper_triangle_set)
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# Pokemon model
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pcd = o3d.geometry.PointCloud()
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pcd.points = o3d.utility.Vector3dVector(pokemon.get_position())
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pokemon_point = pokemon.get_position()[:, :3]
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pokemon_point[:, 2] = -pokemon_point[:, 2]
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pcd.points = o3d.utility.Vector3dVector(pokemon_point)
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pcd.colors = o3d.utility.Vector3dVector(pokemon.get_colors())
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vis.add_geometry(pcd)
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@ -141,6 +142,7 @@ def visualization(inverse_matrix_M, pokemon):
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location[2] = -location[2]
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points.append(location)
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# 方框的線
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lines.append(np.array([ start_index+1, start_index+2 ]))
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lines.append(np.array([ start_index+2, start_index+3 ]))
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@ -197,26 +199,20 @@ def render_pokemon(frame, M, camera_position, pokemon):
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pokemon_points = pokemon_points[sorted_indices]
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pokemon_colors = pokemon_colors[sorted_indices]
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for index in range(pokemon_points.shape[0]):
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pokemon_color = [int(i*255) for i in pokemon_colors[index]]
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# print(pokemon_color)
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# print(pokemon_points[index])
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pokemon_point = CAMERA_MATRIX @ M
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# print(pokemon_point.shape)
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# print(pokemon_points.shape)
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pokemon_point = pokemon_point @ (pokemon_points[index].reshape((4, 1)))
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pokemon_point = pokemon_point[:2] / pokemon_point[2]
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pokemon_point = [int(i) for i in pokemon_point]
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# print(pokemon_point)
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# print(frame.shape)
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if pokemon_point[0] >= 0 and pokemon_point[0] <= frame.shape[0] and pokemon_point[1] >= 0 and pokemon_point[1] <= frame.shape[1]:
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frame = cv2.circle(frame, pokemon_point, 5, pokemon_color, thickness=-1)
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M = CAMERA_MATRIX.dot(M)
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pokemon_points = (M @ (pokemon_points.T)).T
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for point , color in zip(pokemon_points, pokemon_colors):
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color = [int(i*255) for i in color]
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color = np.array(color, dtype=int)
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color = color[0:3]
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point2D = point[:2] / point[2]
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point2D = np.int_(point2D[::-1])
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if 0 <= point2D[0] < frame.shape[1] and 0 <= point2D[1] < frame.shape[0]:
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frame = cv2.circle(frame, tuple(point2D), 10,color.astype(int).tolist(), thickness=-1)
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return frame
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if __name__ == '__main__':
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# 設定連接到 Android 手機的相機
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@ -264,6 +260,7 @@ if __name__ == '__main__':
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if previous_approx == []:
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print("INITIAL")
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previous_approx = initial_approx(approx)
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print(previous_approx)
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new_approx = get_new_approx(approx, previous_approx)
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previous_approx = new_approx
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@ -280,20 +277,23 @@ if __name__ == '__main__':
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rotation_vectors.append(rotation_matrix)
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translation_vectors.append(translation_vector)
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'''
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print("R:", rotation_matrix)
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print("t:", translation_vector)
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print()
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'''
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R = rotation_matrix
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t = translation_vector
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rt = np.concatenate((R, t), axis=1)
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# print('rt: ', rt)
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M = np.concatenate((rt, [[0, 0, 0, 1]]), axis=0)
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M_inv = np.linalg.inv(M)
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camera_position = M_inv @ np.array([0, 0, 0, 1])
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camera_position[2] = -camera_position[2]
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# print("CAMERA: ", camera_position)
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frame = render_pokemon(frame, rt, camera_position, pokemon)
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cv2.imwrite('test.jpg', frame)
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# 顯示結果
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@ -305,7 +305,7 @@ if __name__ == '__main__':
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cv2.imshow('Paper Detection', frame)
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# 按下 'q' 鍵退出迴圈
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key = cv2.waitKey(17) & 0xFF
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key = cv2.waitKey(5) & 0xFF
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if key == ord('q'): # 等待 33ms (1秒 = 1000ms, 1秒顯示幀)
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break
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if key == ord(' '):
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29
pokemon.py
29
pokemon.py
@ -1,4 +1,4 @@
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import open3d as o3d
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import numpy as np
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class Pokemon():
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@ -8,8 +8,8 @@ class Pokemon():
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self.scalar = 10
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self.x = 8
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self.y = 13
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self.x = 4
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self.y = 20
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self.z = 8
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self.cloudpoints = {
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@ -26,23 +26,38 @@ class Pokemon():
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self.cloudpoints['colors'] = self.cloudpoints['colors'] / 255
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self.cloudpoints['colors'] = self.cloudpoints['colors'][:, :3]
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# down sample
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point_cloud = o3d.geometry.PointCloud()
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point_cloud.points = o3d.utility.Vector3dVector(self.cloudpoints['points'])
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point_cloud.colors = o3d.utility.Vector3dVector(self.cloudpoints['colors'])
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downsampled_cloud = point_cloud.uniform_down_sample(every_k_points=5)
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downsampled_points = np.asarray(downsampled_cloud.points)
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downsampled_colors = np.asarray(downsampled_cloud.colors)
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def get_position(self):
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self.cloudpoints['points'] = downsampled_points
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self.cloudpoints['colors'] = downsampled_colors
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self.cal_position()
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def cal_position(self):
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transform_matrix = np.array([
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[self.scalar, 0, 0, 0],
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[0, 0, self.scalar, 0],
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[0, self.scalar, 0, 0],
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[self.x, self.y, self.z, 0]]) # shift (前後, 左右, 高度)
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[self.x, self.y, self.z, 1]]) # shift (前後, 左右, 高度)
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pokemon_points = self.cloudpoints['points']
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ones = np.ones((pokemon_points.shape[0], 1))
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pokemon_points = np.concatenate([pokemon_points, ones], axis=1)
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pokemon_points = pokemon_points @ transform_matrix
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# pokemon_points = pokemon_points[:, :3]
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pokemon_points[:, 2] = -pokemon_points[:, 2]
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self.cloudpoints['points'] = pokemon_points
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return pokemon_points
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def get_position(self):
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return self.cloudpoints['points']
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def get_colors(self):
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return self.cloudpoints['colors']
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