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https://github.com/PaddlePaddle/FastDeploy.git
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df20b2a02b
* Remove useless macros * triger ci * fix check error * rename INTEGRATE_PADDLE2ONNX to ENABLE_PADDLE2ONNX
62 lines
2.3 KiB
C++
62 lines
2.3 KiB
C++
// Copyright (c) 2022 PaddlePaddle Authors. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "fastdeploy/vision/visualize/visualize.h"
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#include "opencv2/imgproc/imgproc.hpp"
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namespace fastdeploy {
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namespace vision {
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cv::Mat VisHeadPose(const cv::Mat& im, const HeadPoseResult& result, int size,
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int line_size) {
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const float PI = 3.1415926535;
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auto vis_im = im.clone();
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int h = im.rows;
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int w = im.cols;
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// vis headpose
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float pitch = result.euler_angles[0] * PI / 180.f;
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float yaw = -result.euler_angles[1] * PI / 180.f;
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float roll = result.euler_angles[2] * PI / 180.f;
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int tdx = w / 2;
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int tdy = h / 2;
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// X-Axis | drawn in red
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int x1 = static_cast<int>(size * std::cos(yaw) * std::cos(roll)) + tdx;
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int y1 = static_cast<int>(
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size * (std::cos(pitch) * std::sin(roll) +
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std::cos(roll) * std::sin(pitch) * std::sin(yaw))) +
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tdy;
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// Y-Axis | drawn in green
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int x2 = static_cast<int>(-size * std::cos(yaw) * std::sin(roll)) + tdx;
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int y2 = static_cast<int>(
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size * (std::cos(pitch) * std::cos(roll) -
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std::sin(pitch) * std::sin(yaw) * std::sin(roll))) +
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tdy;
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// Z-Axis | drawn in blue
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int x3 = static_cast<int>(size * std::sin(yaw)) + tdx;
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int y3 = static_cast<int>(-size * std::cos(yaw) * std::sin(pitch)) + tdy;
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cv::line(vis_im, cv::Point2i(tdx, tdy), cv::Point2i(x1, y1),
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cv::Scalar(0, 0, 255), line_size);
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cv::line(vis_im, cv::Point2i(tdx, tdy), cv::Point2i(x2, y2),
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cv::Scalar(0, 255, 0), line_size);
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cv::line(vis_im, cv::Point2i(tdx, tdy), cv::Point2i(x3, y3),
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cv::Scalar(255, 0, 0), line_size);
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return vis_im;
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}
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} // namespace vision
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} // namespace fastdeploy
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