mediacube.py 文件源码

def render(self, markers):

        for marker in markers:

            rvecs, tvecs, marker_rotation, marker_name = marker

            # build view matrix
            rmtx = cv2.Rodrigues(rvecs)[0]

            view_matrix = np.array([[rmtx[0][0],rmtx[0][1],rmtx[0][2],tvecs[0]],
                                    [rmtx[1][0],rmtx[1][1],rmtx[1][2],tvecs[1]],
                                    [rmtx[2][0],rmtx[2][1],rmtx[2][2],tvecs[2]],
                                    [0.0       ,0.0       ,0.0       ,1.0    ]])

            view_matrix = view_matrix * self.INVERSE_MATRIX

            view_matrix = np.transpose(view_matrix)

            # load view matrix and draw cube
            glPushMatrix()
            glLoadMatrixd(view_matrix)

            if marker_name == MARKER_ONE:
                self.marker_one_textures[TEXTURE_FRONT] = cv2.flip(self._get_video_frame(), 0)
                self._draw_cube(marker_rotation, self.marker_one_textures)
            elif marker_name == MARKER_TWO:
                self._draw_cube(marker_rotation, self.marker_two_textures)

            glColor3f(1.0, 1.0, 1.0)
            glPopMatrix()