mirror of
https://github.com/opencv/opencv.git
synced 2024-11-29 13:47:32 +08:00
86 lines
2.6 KiB
Python
86 lines
2.6 KiB
Python
import numpy as np
|
|
import cv2, cv
|
|
import os
|
|
|
|
image_extensions = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.pbm', '.pgm', '.ppm']
|
|
|
|
def splitfn(fn):
|
|
path, fn = os.path.split(fn)
|
|
name, ext = os.path.splitext(fn)
|
|
return path, name, ext
|
|
|
|
def anorm2(a):
|
|
return (a*a).sum(-1)
|
|
def anorm(a):
|
|
return np.sqrt( anorm2(a) )
|
|
|
|
def homotrans(H, x, y):
|
|
xs = H[0, 0]*x + H[0, 1]*y + H[0, 2]
|
|
ys = H[1, 0]*x + H[1, 1]*y + H[1, 2]
|
|
s = H[2, 0]*x + H[2, 1]*y + H[2, 2]
|
|
return xs/s, ys/s
|
|
|
|
def to_rect(a):
|
|
a = np.ravel(a)
|
|
if len(a) == 2:
|
|
a = (0, 0, a[0], a[1])
|
|
return np.array(a, np.float64).reshape(2, 2)
|
|
|
|
def rect2rect_mtx(src, dst):
|
|
src, dst = to_rect(src), to_rect(dst)
|
|
cx, cy = (dst[1] - dst[0]) / (src[1] - src[0])
|
|
tx, ty = dst[0] - src[0] * (cx, cy)
|
|
M = np.float64([[ cx, 0, tx],
|
|
[ 0, cy, ty],
|
|
[ 0, 0, 1]])
|
|
return M
|
|
|
|
|
|
def lookat(eye, target, up = (0, 0, 1)):
|
|
fwd = np.asarray(target, np.float64) - eye
|
|
fwd /= anorm(fwd)
|
|
right = np.cross(fwd, up)
|
|
right /= anorm(right)
|
|
down = np.cross(fwd, right)
|
|
R = np.float64([right, down, fwd])
|
|
tvec = -np.dot(R, eye)
|
|
return R, tvec
|
|
|
|
def mtx2rvec(R):
|
|
w, u, vt = cv2.SVDecomp(R - np.eye(3))
|
|
p = vt[0] + u[:,0]*w[0] # same as np.dot(R, vt[0])
|
|
c = np.dot(vt[0], p)
|
|
s = np.dot(vt[1], p)
|
|
axis = np.cross(vt[0], vt[1])
|
|
return axis * np.arctan2(s, c)
|
|
|
|
def draw_str(dst, (x, y), s):
|
|
cv2.putText(dst, s, (x+1, y+1), cv2.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 0), thickness = 2, linetype=cv2.CV_AA)
|
|
cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255), linetype=cv2.CV_AA)
|
|
|
|
class Sketcher:
|
|
def __init__(self, windowname, dests, colors_func):
|
|
self.prev_pt = None
|
|
self.windowname = windowname
|
|
self.dests = dests
|
|
self.colors_func = colors_func
|
|
self.dirty = False
|
|
self.show()
|
|
cv2.setMouseCallback(self.windowname, self.on_mouse)
|
|
|
|
def show(self):
|
|
cv2.imshow(self.windowname, self.dests[0])
|
|
|
|
def on_mouse(self, event, x, y, flags, param):
|
|
pt = (x, y)
|
|
if event == cv.CV_EVENT_LBUTTONDOWN:
|
|
self.prev_pt = pt
|
|
if self.prev_pt and flags & cv.CV_EVENT_FLAG_LBUTTON:
|
|
for dst, color in zip(self.dests, self.colors_func()):
|
|
cv2.line(dst, self.prev_pt, pt, color, 5)
|
|
self.dirty = True
|
|
self.prev_pt = pt
|
|
self.show()
|
|
else:
|
|
self.prev_pt = None
|