r/sustaining_gazes_tnc
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Draw out position in little floorplan

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This commit is contained in:
Ruben 2018-04-24 12:40:33 +02:00
parent 8126e135e4
commit ca87917297
1 changed files with 67 additions and 9 deletions
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70
head_pose.py
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@ -4,6 +4,8 @@ import cv2
import dlib
import numpy as np
from PIL import Image, ImageDraw
# Read Image
c = cv2.VideoCapture(0)
# im = cv2.imread("headPose.jpg");
@ -54,7 +56,6 @@ while True:
# Camera internals
focal_length = size[1]
center = (size[1]/2, size[0]/2)
camera_matrix = np.array(
@ -63,19 +64,20 @@ while True:
[0, 0, 1]], dtype = "double"
)
print ("Camera Matrix :\n {0}".format(camera_matrix))
# print ("Camera Matrix :\n {0}".format(camera_matrix))
dist_coeffs = np.zeros((4,1)) # Assuming no lens distortion
(success, rotation_vector, translation_vector) = cv2.solvePnP(model_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_ITERATIVE)
if not success:
print("Error determening PnP", success)
continue
print ("Rotation Vector:\n {0}".format(rotation_vector))
print ("Translation Vector:\n {0}".format(translation_vector))
# Project a 3D point (0, 0, 1000.0) onto the image plane.
# We use this to draw a line sticking out of the nose
(nose_end_point2D, jacobian) = cv2.projectPoints(np.array([(0.0, 0.0, 1000.0)]), rotation_vector, translation_vector, camera_matrix, dist_coeffs)
for p in image_points:
@ -84,9 +86,65 @@ while True:
p1 = ( int(image_points[0][0]), int(image_points[0][1]))
p2 = ( int(nose_end_point2D[0][0][0]), int(nose_end_point2D[0][0][1]))
cv2.line(im, p1, p2, (255,0,0), 2)
# Translation vector gives position in space:
# x, y z: 0,0,0 is center of camera
# line: (x,y,z) = f(a) = (t1 + r1*a, t2+r2*a, t3 + r3*a)
# Screen: (x,y,z) = (x,y,0)
# Interesection:
# x = t1 + r1 * a
# y = t2 + r2 * a
# z = t3 * r3 * a = 0
# => a = -t3 / r3
# substitute found a in x,y
a = - translation_vector[2] / rotation_vector[2]
x = translation_vector[0] + rotation_vector[0] * a
y = translation_vector[1] + rotation_vector[1] * a
rotMatrix = np.zeros([3,3])
cv2.Rodrigues(rotation_vector, rotMatrix, jacobian=0)
# Find rotation: https://stackoverflow.com/a/15029416
rx = np.arctan2(rotMatrix[2,1], rotMatrix[2,2])
ry = np.arctan2(-rotMatrix[2,0], np.sqrt(np.square(rotMatrix[2,1]) + np.square(rotMatrix[2,2])))
rz = np.arctan2(rotMatrix[1,0],rotMatrix[0,0])
print("rotation", rx, ry, rz)
ry = - np.arcsin(rotMatrix[0,2])
rx = np.arctan2(rotMatrix[1,2]/np.cos(ry), rotMatrix[2,2]/np.cos(ry))
rz = np.arctan2(rotMatrix[0,1]/np.cos(ry), rotMatrix[0,0]/np.cos(ry))
print("rotation ml", rx, ry, rz) # seems better?
# rotatedVector = np.dot(rotMatrix, translation_vector)
# print("rvec", rotatedVector)
# draw little floorplan for x: 10 -> 50 maps to z: 0 -> 10000, x: -2000 -> 2000
mapPosX = int((translation_vector[0] + 500) / 1000 * 40)
mapPosY = int((translation_vector[1] + 500) / 1000 * 40)
mapPosZ = int((translation_vector[2] + 0 ) / 10000 * 40)
cv2.circle(im, (mapPosZ + 10, mapPosX + 10), 2, (0,0,255), -1)
cv2.circle(im, (mapPosZ + 60, mapPosY + 10), 2, (0,0,255), -1)
# make it an _amazing_ stick figurine for the side view
cv2.line(im, (mapPosZ + 60, mapPosY + 10), (mapPosZ + 60, mapPosY + 20), (0,0,255), 1)
cv2.line(im, (mapPosZ + 60, mapPosY + 20), (mapPosZ + 55, mapPosY + 25), (0,0,255), 1)
cv2.line(im, (mapPosZ + 60, mapPosY + 20), (mapPosZ + 65, mapPosY + 25), (0,0,255), 1)
cv2.line(im, (mapPosZ + 60, mapPosY + 15), (mapPosZ + 55, mapPosY + 10), (0,0,255), 1)
cv2.line(im, (mapPosZ + 60, mapPosY + 15), (mapPosZ + 65, mapPosY + 10), (0,0,255), 1)
# draw rotation vector
cv2.circle(im, (mapPosZ + 60, mapPosY + 10), 2, (0,0,255), -1)
cv2.line(im, (mapPosZ + 10, mapPosX + 10), (mapPosZ + 10 + int(rotation_vector[2]*5), mapPosX + 10 + int(rotation_vector[0]*5)), (255,255,0), 1)
cv2.line(im, (mapPosZ + 60, mapPosY + 10), (mapPosZ + 60 + int(rotation_vector[2]*5), mapPosY + 10 + int(rotation_vector[1]*50)), (255,255,0), 1)
# print (a, x, y, rotMatrix)
# draw little floorplan for 10 -> 50, sideplan 60 -> 100 (40x40 px)
cv2.rectangle(im, (9, 9), (51, 51), (255,255,255), 1)
cv2.rectangle(im, (59, 9), (101, 51), (255,255,255), 1)
cv2.line(im, (10,10), (10,50), (200,200,200), 2)
cv2.line(im, (60,10), (60,50), (200,200,200), 2)
# Display image
cv2.imshow("Output", im)
if cv2.waitKey(5)==27: