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GitOrigin-RevId: 6e4aff1cc351be3ae4537b677f36d139ee50ce09
This commit is contained in:
MediaPipe Team
2021-03-25 22:09:18 -04:00
committed by chuoling
parent a92cff7a60
commit 7c331ad58b
175 changed files with 4804 additions and 1325 deletions
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mediapipe/python/solutions/drawing_utils.py
+13 -17
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@@ -28,6 +28,8 @@ from mediapipe.framework.formats import landmark_pb2
PRESENCE_THRESHOLD = 0.5
RGB_CHANNELS = 3
RED_COLOR = (0, 0, 255)
GREEN_COLOR = (0, 128, 0)
BLUE_COLOR = (255, 0, 0)
VISIBILITY_THRESHOLD = 0.5
@@ -178,9 +180,7 @@ def draw_axis(
focal_length: Tuple[float, float] = (1.0, 1.0),
principal_point: Tuple[float, float] = (0.0, 0.0),
axis_length: float = 0.1,
x_axis_drawing_spec: DrawingSpec = DrawingSpec(color=(0, 0, 255)),
y_axis_drawing_spec: DrawingSpec = DrawingSpec(color=(0, 128, 0)),
z_axis_drawing_spec: DrawingSpec = DrawingSpec(color=(255, 0, 0))):
axis_drawing_spec: DrawingSpec = DrawingSpec()):
"""Draws the 3D axis on the image.
Args:
@@ -190,12 +190,8 @@ def draw_axis(
focal_length: camera focal length along x and y directions.
principal_point: camera principal point in x and y.
axis_length: length of the axis in the drawing.
x_axis_drawing_spec: A DrawingSpec object that specifies the x axis
drawing settings such as color, line thickness.
y_axis_drawing_spec: A DrawingSpec object that specifies the y axis
drawing settings such as color, line thickness.
z_axis_drawing_spec: A DrawingSpec object that specifies the z axis
drawing settings such as color, line thickness.
axis_drawing_spec: A DrawingSpec object that specifies the xyz axis
drawing settings such as line thickness.
Raises:
ValueError: If one of the followings:
@@ -213,8 +209,8 @@ def draw_axis(
# Project 3D points to NDC space.
fx, fy = focal_length
px, py = principal_point
x_ndc = -fx * x / z + px
y_ndc = -fy * y / z + py
x_ndc = np.clip(-fx * x / (z + 1e-5) + px, -1., 1.)
y_ndc = np.clip(-fy * y / (z + 1e-5) + py, -1., 1.)
# Convert from NDC space to image space.
x_im = np.int32((1 + x_ndc) * 0.5 * image_cols)
y_im = np.int32((1 - y_ndc) * 0.5 * image_rows)
@@ -223,9 +219,9 @@ def draw_axis(
x_axis = (x_im[1], y_im[1])
y_axis = (x_im[2], y_im[2])
z_axis = (x_im[3], y_im[3])
image = cv2.arrowedLine(image, origin, x_axis, x_axis_drawing_spec.color,
x_axis_drawing_spec.thickness)
image = cv2.arrowedLine(image, origin, y_axis, y_axis_drawing_spec.color,
y_axis_drawing_spec.thickness)
image = cv2.arrowedLine(image, origin, z_axis, z_axis_drawing_spec.color,
z_axis_drawing_spec.thickness)
cv2.arrowedLine(image, origin, x_axis, RED_COLOR,
axis_drawing_spec.thickness)
cv2.arrowedLine(image, origin, y_axis, GREEN_COLOR,
axis_drawing_spec.thickness)
cv2.arrowedLine(image, origin, z_axis, BLUE_COLOR,
axis_drawing_spec.thickness)