diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCube.py | 62 |
1 files changed, 32 insertions, 30 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoCube.py b/src/argaze/ArUcoMarkers/ArUcoCube.py index e2983df..356eefc 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCube.py +++ b/src/argaze/ArUcoMarkers/ArUcoCube.py @@ -339,7 +339,7 @@ class ArUcoCube(): self.__succeded = True self.__validity = 0 - def draw(self, frame, K, D): + def draw(self, frame, K, D, draw_faces=True): l = self.edge_size / 2 ll = self.edge_size @@ -359,35 +359,37 @@ class ArUcoCube(): frame = cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (n,f,n), 5) # Y (green) frame = cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (f,n,n), 5) # Z (blue) - # Draw left face - leftPoints = numpy.float32([[-l, l, l], [-l, -l, l], [-l, -l, -l], [-l, l, -l]]).reshape(-1, 3) - leftPoints, _ = cv.projectPoints(leftPoints, self.__rotation, self.__translation, K, D) - leftPoints = leftPoints.astype(int) - - frame = cv.line(frame, tuple(leftPoints[0].ravel()), tuple(leftPoints[1].ravel()), (n,n,f), 2) - frame = cv.line(frame, tuple(leftPoints[1].ravel()), tuple(leftPoints[2].ravel()), (n,n,f), 2) - frame = cv.line(frame, tuple(leftPoints[2].ravel()), tuple(leftPoints[3].ravel()), (n,n,f), 2) - frame = cv.line(frame, tuple(leftPoints[3].ravel()), tuple(leftPoints[0].ravel()), (n,n,f), 2) - - # Draw top face - topPoints = numpy.float32([[l, l, l], [-l, l, l], [-l, l, -l], [l, l, -l]]).reshape(-1, 3) - topPoints, _ = cv.projectPoints(topPoints, self.__rotation, self.__translation, K, D) - topPoints = topPoints.astype(int) - - frame = cv.line(frame, tuple(topPoints[0].ravel()), tuple(topPoints[1].ravel()), (n,f,n), 2) - frame = cv.line(frame, tuple(topPoints[1].ravel()), tuple(topPoints[2].ravel()), (n,f,n), 2) - frame = cv.line(frame, tuple(topPoints[2].ravel()), tuple(topPoints[3].ravel()), (n,f,n), 2) - frame = cv.line(frame, tuple(topPoints[3].ravel()), tuple(topPoints[0].ravel()), (n,f,n), 2) - - # Draw front face - frontPoints = numpy.float32([[l, l, l], [-l, l, l], [-l, -l, l], [l, -l, l]]).reshape(-1, 3) - frontPoints, _ = cv.projectPoints(frontPoints, self.__rotation, self.__translation, K, D) - frontPoints = frontPoints.astype(int) - - frame = cv.line(frame, tuple(frontPoints[0].ravel()), tuple(frontPoints[1].ravel()), (f,n,n), 2) - frame = cv.line(frame, tuple(frontPoints[1].ravel()), tuple(frontPoints[2].ravel()), (f,n,n), 2) - frame = cv.line(frame, tuple(frontPoints[2].ravel()), tuple(frontPoints[3].ravel()), (f,n,n), 2) - frame = cv.line(frame, tuple(frontPoints[3].ravel()), tuple(frontPoints[0].ravel()), (f,n,n), 2) + if draw_faces: + + # Draw left face + leftPoints = numpy.float32([[-l, l, l], [-l, -l, l], [-l, -l, -l], [-l, l, -l]]).reshape(-1, 3) + leftPoints, _ = cv.projectPoints(leftPoints, self.__rotation, self.__translation, K, D) + leftPoints = leftPoints.astype(int) + + frame = cv.line(frame, tuple(leftPoints[0].ravel()), tuple(leftPoints[1].ravel()), (n,n,f), 2) + frame = cv.line(frame, tuple(leftPoints[1].ravel()), tuple(leftPoints[2].ravel()), (n,n,f), 2) + frame = cv.line(frame, tuple(leftPoints[2].ravel()), tuple(leftPoints[3].ravel()), (n,n,f), 2) + frame = cv.line(frame, tuple(leftPoints[3].ravel()), tuple(leftPoints[0].ravel()), (n,n,f), 2) + + # Draw top face + topPoints = numpy.float32([[l, l, l], [-l, l, l], [-l, l, -l], [l, l, -l]]).reshape(-1, 3) + topPoints, _ = cv.projectPoints(topPoints, self.__rotation, self.__translation, K, D) + topPoints = topPoints.astype(int) + + frame = cv.line(frame, tuple(topPoints[0].ravel()), tuple(topPoints[1].ravel()), (n,f,n), 2) + frame = cv.line(frame, tuple(topPoints[1].ravel()), tuple(topPoints[2].ravel()), (n,f,n), 2) + frame = cv.line(frame, tuple(topPoints[2].ravel()), tuple(topPoints[3].ravel()), (n,f,n), 2) + frame = cv.line(frame, tuple(topPoints[3].ravel()), tuple(topPoints[0].ravel()), (n,f,n), 2) + + # Draw front face + frontPoints = numpy.float32([[l, l, l], [-l, l, l], [-l, -l, l], [l, -l, l]]).reshape(-1, 3) + frontPoints, _ = cv.projectPoints(frontPoints, self.__rotation, self.__translation, K, D) + frontPoints = frontPoints.astype(int) + + frame = cv.line(frame, tuple(frontPoints[0].ravel()), tuple(frontPoints[1].ravel()), (f,n,n), 2) + frame = cv.line(frame, tuple(frontPoints[1].ravel()), tuple(frontPoints[2].ravel()), (f,n,n), 2) + frame = cv.line(frame, tuple(frontPoints[2].ravel()), tuple(frontPoints[3].ravel()), (f,n,n), 2) + frame = cv.line(frame, tuple(frontPoints[3].ravel()), tuple(frontPoints[0].ravel()), (f,n,n), 2) except Exception as e: |