mirror of
https://github.com/opencv/opencv.git
synced 2024-11-27 12:40:05 +08:00
111 lines
3.5 KiB
Python
Executable File
111 lines
3.5 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
'''
|
|
Planar augmented reality
|
|
==================
|
|
|
|
This sample shows an example of augmented reality overlay over a planar object
|
|
tracked by PlaneTracker from plane_tracker.py. solvePnP funciton is used to
|
|
estimate the tracked object location in 3d space.
|
|
|
|
video: http://www.youtube.com/watch?v=pzVbhxx6aog
|
|
|
|
Usage
|
|
-----
|
|
plane_ar.py [<video source>]
|
|
|
|
Keys:
|
|
SPACE - pause video
|
|
c - clear targets
|
|
|
|
Select a textured planar object to track by drawing a box with a mouse.
|
|
Use 'focal' slider to adjust to camera focal length for proper video augmentation.
|
|
'''
|
|
|
|
# Python 2/3 compatibility
|
|
from __future__ import print_function
|
|
|
|
import numpy as np
|
|
import cv2
|
|
import video
|
|
import common
|
|
from plane_tracker import PlaneTracker
|
|
|
|
|
|
ar_verts = 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],
|
|
[0, 0.5, 2], [1, 0.5, 2]])
|
|
ar_edges = [(0, 1), (1, 2), (2, 3), (3, 0),
|
|
(4, 5), (5, 6), (6, 7), (7, 4),
|
|
(0, 4), (1, 5), (2, 6), (3, 7),
|
|
(4, 8), (5, 8), (6, 9), (7, 9), (8, 9)]
|
|
|
|
class App:
|
|
def __init__(self, src):
|
|
self.cap = video.create_capture(src)
|
|
self.frame = None
|
|
self.paused = False
|
|
self.tracker = PlaneTracker()
|
|
|
|
cv2.namedWindow('plane')
|
|
cv2.createTrackbar('focal', 'plane', 25, 50, common.nothing)
|
|
self.rect_sel = common.RectSelector('plane', self.on_rect)
|
|
|
|
def on_rect(self, rect):
|
|
self.tracker.add_target(self.frame, rect)
|
|
|
|
def run(self):
|
|
while True:
|
|
playing = not self.paused and not self.rect_sel.dragging
|
|
if playing or self.frame is None:
|
|
ret, frame = self.cap.read()
|
|
if not ret:
|
|
break
|
|
self.frame = frame.copy()
|
|
|
|
vis = self.frame.copy()
|
|
if playing:
|
|
tracked = self.tracker.track(self.frame)
|
|
for tr in tracked:
|
|
cv2.polylines(vis, [np.int32(tr.quad)], True, (255, 255, 255), 2)
|
|
for (x, y) in np.int32(tr.p1):
|
|
cv2.circle(vis, (x, y), 2, (255, 255, 255))
|
|
self.draw_overlay(vis, tr)
|
|
|
|
self.rect_sel.draw(vis)
|
|
cv2.imshow('plane', vis)
|
|
ch = cv2.waitKey(1) & 0xFF
|
|
if ch == ord(' '):
|
|
self.paused = not self.paused
|
|
if ch == ord('c'):
|
|
self.tracker.clear()
|
|
if ch == 27:
|
|
break
|
|
|
|
def draw_overlay(self, vis, tracked):
|
|
x0, y0, x1, y1 = tracked.target.rect
|
|
quad_3d = np.float32([[x0, y0, 0], [x1, y0, 0], [x1, y1, 0], [x0, y1, 0]])
|
|
fx = 0.5 + cv2.getTrackbarPos('focal', 'plane') / 50.0
|
|
h, w = vis.shape[:2]
|
|
K = np.float64([[fx*w, 0, 0.5*(w-1)],
|
|
[0, fx*w, 0.5*(h-1)],
|
|
[0.0,0.0, 1.0]])
|
|
dist_coef = np.zeros(4)
|
|
ret, rvec, tvec = cv2.solvePnP(quad_3d, tracked.quad, K, dist_coef)
|
|
verts = ar_verts * [(x1-x0), (y1-y0), -(x1-x0)*0.3] + (x0, y0, 0)
|
|
verts = cv2.projectPoints(verts, rvec, tvec, K, dist_coef)[0].reshape(-1, 2)
|
|
for i, j in ar_edges:
|
|
(x0, y0), (x1, y1) = verts[i], verts[j]
|
|
cv2.line(vis, (int(x0), int(y0)), (int(x1), int(y1)), (255, 255, 0), 2)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
print(__doc__)
|
|
|
|
import sys
|
|
try:
|
|
video_src = sys.argv[1]
|
|
except:
|
|
video_src = 0
|
|
App(video_src).run()
|