visualize_utils.py

import cv2
import pyautogui
import os
from glob import glob

screen_width, screen_height = pyautogui.size()

class window:
    def __init__(self, name, size=None, video_path=None, video_fps=30, video_size=(480, 320), show=False):
        self.screen_width, self.screen_height = pyautogui.size()
        self.screen_width = int(self.screen_width / 2)
        if size is not None:
            self.width = size[0]
            self.height = size[1]
        else:
            self.width = self.screen_width
            self.height = self.screen_height
        self.video_size = video_size
        self.video_fps = video_fps

        self.x_pos = (self.screen_width - self.width) // 2
        self.y_pos = (self.screen_height - self.height) // 2
        self.name = name
        
        if show:
            cv2.namedWindow(self.name, cv2.WINDOW_NORMAL)        
            cv2.resizeWindow(self.name, self.width, self.height)
            cv2.moveWindow(self.name, self.x_pos, self.y_pos)
        self.video_path = video_path
        if video_path is not None:
            self.init_video()

    def init_video(self):
        if self.video_path is not None:
            directory_path = f'./{self.video_path}'
            if not os.path.exists(directory_path):
                os.makedirs(directory_path)
            self.num = len(glob(f'./{self.video_path}/*.mp4'))
            fourcc = cv2.VideoWriter_fourcc(*'mp4v')  # You can change codec ('XVID', 'MJPG', etc.)
            self.video_writer = cv2.VideoWriter(f'./{self.video_path}/{self.num}.mp4', fourcc, self.video_fps, self.video_size)
        self.video_recording = False
        print('Video init to ', f'./{self.video_path}/{self.num}.mp4')

    def show(self, img, overlay_img=None, text=None, grid=None, show=False):
        if overlay_img is not None:
            img = cv2.addWeighted(img, 1 - 0.3, overlay_img, 0.3, 0)

        if text is not None:
            font = cv2.FONT_HERSHEY_SIMPLEX
            font_scale = 0.8
            font_thickness = 2
            font_color = (0, 0, 0)  # Black color
            (text_width, text_height), baseline = cv2.getTextSize(text, font, font_scale, font_thickness)
            image_height, image_width = img.shape[:2]
            x = (image_width - text_width) // 2  # X coordinate
            y = (image_height - text_height)
            cv2.rectangle(img, (0, image_height - int(2.2 * text_height)), (image_width, image_height), (255, 255, 255), -1)
            cv2.putText(img, text, (x, y), font, font_scale, font_color, font_thickness, lineType=cv2.LINE_AA)

        if grid is not None:
            # Draw vertical lines
            cols = 4
            rows = 3
            for row in range(0, rows):
                for col in range(0, cols - 1):
                    idx = int(cols * row + col)
                    cv2.line(img, (int(grid[idx][0]), int(grid[idx][1])), (int(grid[idx + 1][0]), int(grid[idx + 1][1])), (0, 0, 255), 1)  # Blue vertical lines

            for col in range(0, cols):
                for row in range(0, rows - 1):
                    idx = int(cols * row + col)
                    idx2 = idx + cols
                    cv2.line(img, (int(grid[idx][0]), int(grid[idx][1])), (int(grid[idx2][0]), int(grid[idx2][1])), (0, 0, 255), 1)  # Blue vertical lines
                
        self.img = cv2.resize(img, (self.width, self.height))
        if show:
            cv2.imshow(self.name, self.img)
            cv2.waitKey(1)

    def video_start(self):
        self.video_recording = True

    def video_write(self):
        if self.img is not None and self.video_recording is not None and self.video_writer.isOpened():
            frame_resized = cv2.resize(self.img, self.video_size)
            self.video_writer.write(frame_resized)

    def video_stop(self):
        self.video_recording = False
        print('Video saved!@!')
        self.video_writer.release()


import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D

# Function to generate rotation matrix from RPY (roll, pitch, yaw)
def rpy_to_rotation_matrix(roll, pitch, yaw):
    # Rotation matrix around X axis (roll)
    R_x = np.array([[1, 0, 0],
                    [0, np.cos(roll), -np.sin(roll)],
                    [0, np.sin(roll), np.cos(roll)]])
    
    # Rotation matrix around Y axis (pitch)
    R_y = np.array([[np.cos(pitch), 0, np.sin(pitch)],
                    [0, 1, 0],
                    [-np.sin(pitch), 0, np.cos(pitch)]])
    
    # Rotation matrix around Z axis (yaw)
    R_z = np.array([[np.cos(yaw), -np.sin(yaw), 0],
                    [np.sin(yaw), np.cos(yaw), 0],
                    [0, 0, 1]])
    
    # Combined rotation matrix
    R = np.dot(R_z, np.dot(R_y, R_x))  # R = Rz * Ry * Rx
    return R

# Function to visualize the position and orientation
def visualize_xyz_rpy(x, y, z, roll, pitch, yaw):
    # Create a 3D plot
    fig = plt.figure()
    ax = fig.add_subplot(111, projection='3d')

    # Define object position
    position = np.array([x, y, z])

    # Compute rotation matrix
    R = rpy_to_rotation_matrix(roll, pitch, yaw)

    # Create the local axes (unit vectors)
    x_axis = R[:, 0]  # Local x-axis
    y_axis = R[:, 1]  # Local y-axis
    z_axis = R[:, 2]  # Local z-axis

    # Plot the original position point
    ax.scatter([x], [y], [z], color='k', s=100, label="Position")

    # Plot the rotated axes (X, Y, Z)
    ax.quiver(x, y, z, x_axis[0], x_axis[1], x_axis[2], color='r', length=1.0, normalize=True, label="X-axis (roll)")
    ax.quiver(x, y, z, y_axis[0], y_axis[1], y_axis[2], color='g', length=1.0, normalize=True, label="Y-axis (pitch)")
    ax.quiver(x, y, z, z_axis[0], z_axis[1], z_axis[2], color='b', length=1.0, normalize=True, label="Z-axis (yaw)")

    # Set plot limits for better visualization
    ax.set_xlim([x-2, x+2])
    ax.set_ylim([y-2, y+2])
    ax.set_zlim([z-2, z+2])

    # Add labels and title
    ax.set_xlabel('X')
    ax.set_ylabel('Y')
    ax.set_zlabel('Z')
    ax.set_title(f'Position: ({x}, {y}, {z}), RPY: ({np.degrees(roll):.1f}, {np.degrees(pitch):.1f}, {np.degrees(yaw):.1f})')

    # Show legend
    ax.legend()

    # Show the plot
    plt.show()

# Call the visualization function
# visualize_xyz_rpy(x, y, z, roll, pitch, yaw)