| | |
|---|
| | | if conf > 1.0: |
|---|
| | | bbox_width = abs(x_max - x_min) |
|---|
| | | bbox_height = abs(y_max - y_min) |
|---|
| | | x_min -= 3 * bbox_width / 4 |
|---|
| | | x_max += 3 * bbox_width / 4 |
|---|
| | | x_min -= 2 * bbox_width / 4 |
|---|
| | | x_max += 2 * bbox_width / 4 |
|---|
| | | y_min -= 3 * bbox_height / 4 |
|---|
| | | y_max += bbox_height / 4 |
|---|
| | | x_min = max(x_min, 0); y_min = max(y_min, 0) |
|---|
| | |
|---|
| | | # utils.plot_pose_cube(frame, yaw_predicted, pitch_predicted, roll_predicted, (x_min + x_max) / 2, (y_min + y_max) / 2, size = bbox_width) |
|---|
| | | utils.draw_axis(frame, yaw_predicted, pitch_predicted, roll_predicted, tdx = (x_min + x_max) / 2, tdy= (y_min + y_max) / 2, size = bbox_height/2) |
|---|
| | | # Plot expanded bounding box |
|---|
| | | cv2.rectangle(frame, (x_min, y_min), (x_max, y_max), (0,255,0), 1) |
|---|
| | | # cv2.rectangle(frame, (x_min, y_min), (x_max, y_max), (0,255,0), 1) |
|---|
| | | |
|---|
| | | out.write(frame) |
|---|
| | | frame_num += 1 |
|---|
