surface_tracker.py 文件源码

def gl_display(self):
        """
        Display marker and surface info inside world screen
        """
        if self.mode == "Show Markers and Surfaces":
            for m in self.markers:
                hat = np.array([[[0,0],[0,1],[.5,1.3],[1,1],[1,0],[0,0]]],dtype=np.float32)
                hat = cv2.perspectiveTransform(hat,m_marker_to_screen(m))
                if m['perimeter']>=self.min_marker_perimeter and m['id_confidence']>self.min_id_confidence:
                    draw_polyline(hat.reshape((6,2)),color=RGBA(0.1,1.,1.,.5))
                    draw_polyline(hat.reshape((6,2)),color=RGBA(0.1,1.,1.,.3),line_type=GL_POLYGON)
                else:
                    draw_polyline(hat.reshape((6,2)),color=RGBA(0.1,1.,1.,.5))

            for s in self.surfaces:
                if s not in self.edit_surfaces and s is not self.marker_edit_surface:
                    s.gl_draw_frame(self.img_shape)

            for s in self.edit_surfaces:
                s.gl_draw_frame(self.img_shape,highlight=True,surface_mode=True)
                s.gl_draw_corners()

            if self.marker_edit_surface:
                inc = []
                exc = []
                for m in self.markers:
                    if m['perimeter']>=self.min_marker_perimeter:
                        if m['id'] in self.marker_edit_surface.markers:
                            inc.append(m['centroid'])
                        else:
                            exc.append(m['centroid'])
                draw_points(exc,size=20,color=RGBA(1.,0.5,0.5,.8))
                draw_points(inc,size=20,color=RGBA(0.5,1.,0.5,.8))
                self.marker_edit_surface.gl_draw_frame(self.img_shape,color=(0.0,0.9,0.6,1.0),highlight=True,marker_mode=True)

        for s in self.surfaces:
            if self.locate_3d:
                s.gl_display_in_window_3d(self.g_pool.image_tex,self.camera_calibration)
            else:
                s.gl_display_in_window(self.g_pool.image_tex)