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30 lines
990 B
30 lines
990 B
import numpy as np
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import cv2
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def rot_matrix(roll, pitch, yaw):
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cr, sr = np.cos(roll), np.sin(roll)
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cp, sp = np.cos(pitch), np.sin(pitch)
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cy, sy = np.cos(yaw), np.sin(yaw)
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rr = np.array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
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rp = np.array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
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ry = np.array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
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return ry.dot(rp.dot(rr))
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def draw_pose(img, pose, loc, W=160, H=320, xyoffset=(0,0), faceprob=0):
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rcmat = np.zeros((3,4))
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rcmat[:,:3] = rot_matrix(*pose[0:3]) * 0.5
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rcmat[0,3] = (loc[0]+0.5) * W
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rcmat[1,3] = (loc[1]+0.5) * H
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rcmat[2,3] = 1.0
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# draw nose
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p1 = np.dot(rcmat, [0,0,0,1])[0:2]
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p2 = np.dot(rcmat, [0,0,100,1])[0:2]
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tr = tuple([int(round(x + xyoffset[i])) for i,x in enumerate(p1)])
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pr = tuple([int(round(x + xyoffset[i])) for i,x in enumerate(p2)])
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if faceprob > 0.4:
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color = (255,255,0)
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cv2.line(img, tr, pr, color=(255,255,0), thickness=3)
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else:
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color = (64,64,64)
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cv2.circle(img, tr, 7, color=color)
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