| | |
|---|
| | | sys.exit(0) |
|---|
| | | |
|---|
| | | x_min, y_min, x_max, y_max = int(line[1]), int(line[2]), int(line[3]), int(line[4]) |
|---|
| | | x_min -= 100 |
|---|
| | | x_max += 100 |
|---|
| | | y_min -= 200 |
|---|
| | | y_max += 50 |
|---|
| | | x_min = max(x_min, 0) |
|---|
| | | y_min = max(y_min, 0) |
|---|
| | | x_max = min(frame.shape[1], x_max) |
|---|
| | | y_max = min(frame.shape[0], y_max) |
|---|
| | | # Crop image |
|---|
| | | img = frame[y_min:y_max,x_min:x_max] |
|---|
| | | img = Image.fromarray(img) |
|---|
| | |
|---|
| | | # Print new frame with cube and TODO: axis |
|---|
| | | txt_out.write(str(frame_num) + ' %f %f %f\n' % (yaw_predicted, pitch_predicted, roll_predicted)) |
|---|
| | | utils.plot_pose_cube(frame, yaw_predicted, pitch_predicted, roll_predicted, (x_min + x_max) / 2, (y_min + y_max) / 2, size = 200) |
|---|
| | | # Plot expanded bounding box |
|---|
| | | cv2.rectangle(frame, (x_min, y_min), (x_max, y_max), (0,255,0), 3) |
|---|
| | | out.write(frame) |
|---|
| | | |
|---|
| | | frame_num += 1 |
|---|
