pickle
Co-authored-by: pejour <pejour@users.noreply.github.com> Co-authored-by: Damien Guillotin <damguillotin@gmail.com>
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46
get_proj.py
46
get_proj.py
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@ -2,7 +2,9 @@
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import bpy
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import bpy
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from mathutils import Matrix
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from mathutils import Matrix
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from mathutils import Vector
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import pickle
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import numpy as np
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#---------------------------------------------------------------
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#---------------------------------------------------------------
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# 3x4 P matrix from Blender camera
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# 3x4 P matrix from Blender camera
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@ -41,10 +43,12 @@ def get_calibration_matrix_K_from_blender(camd):
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v_0 = resolution_y_in_px * scale / 2
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v_0 = resolution_y_in_px * scale / 2
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skew = 0 # only use rectangular pixels
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skew = 0 # only use rectangular pixels
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K = Matrix(
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K = Matrix((
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((alpha_u, skew, u_0),
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(alpha_u, skew, u_0),
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( 0, alpha_v, v_0),
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( 0, alpha_v, v_0),
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( 0 , 0, 1 )))
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( 0, 0, 1)
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))
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return K
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return K
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# Returns camera rotation and translation matrices from Blender.
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# Returns camera rotation and translation matrices from Blender.
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@ -62,7 +66,7 @@ def get_calibration_matrix_K_from_blender(camd):
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# used in digital images)
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# used in digital images)
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# - right-handed: positive z look-at direction
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# - right-handed: positive z look-at direction
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def get_3x4_RT_matrix_from_blender(cam):
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def get_3x4_RT_matrix_from_blender(cam):
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# bcam stands for blender camera
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# # bcam stands for blender camera
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R_bcam2cv = Matrix(
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R_bcam2cv = Matrix(
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((1, 0, 0),
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((1, 0, 0),
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(0, -1, 0),
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(0, -1, 0),
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@ -101,14 +105,28 @@ def get_3x4_P_matrix_from_blender(cam):
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RT = get_3x4_RT_matrix_from_blender(cam)
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RT = get_3x4_RT_matrix_from_blender(cam)
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return K@RT, K, RT
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return K@RT, K, RT
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def run_script(scene):
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def run_script(scene):
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# projection_matrix = scene.camera.matrix_world
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with open(PICKLE_PATH, 'rb') as file:
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projection_matrix, _, _ = get_3x4_P_matrix_from_blender(scene.camera)
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matrices = pickle.load(file)
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with open('/home/damien/Documents/3A/projet-be/imgs/torus/matrices.txt', 'a') as f:
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f.write(projection_matrix.__repr__() + '\n\n')
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f = open('/home/damien/Documents/3A/projet-be/imgs/torus/matrices.txt', 'w')
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projection_matrix, _, _ = get_3x4_P_matrix_from_blender(scene.camera)
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f.close()
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matrices.append(np.array(projection_matrix))
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bpy.app.handlers.frame_change_post.append(run_script)
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with open(PICKLE_PATH, 'wb') as file:
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pickle.dump(matrices, file)
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def setup_script(scene):
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matrices = []
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with open(PICKLE_PATH, 'wb') as file:
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pickle.dump(matrices, file)
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PICKLE_PATH = "/tmp/pickle.truc"
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# clear handlers
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bpy.app.handlers.render_init.clear()
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bpy.app.handlers.frame_change_pre.clear()
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bpy.app.handlers.frame_change_post.clear()
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# add handler
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bpy.app.handlers.render_init.append(setup_script)
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bpy.app.handlers.frame_change_pre.append(run_script)
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23
main.py
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main.py
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@ -1,16 +1,19 @@
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import cv2
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import cv2
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import numpy as np
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import numpy as np
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from itertools import product
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from itertools import product
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from rich.progress import track
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import pickle
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from matrices_reader import *
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from matrices_reader import *
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VOXEL_SIZE = 2e-2
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PICKLE_PATH = "/tmp/pickle.truc"
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VOXEL_SIZE = 8e-2
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X_MIN, X_MAX = -2.0, 2.0
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X_MIN, X_MAX = -2.0, 2.0
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Y_MIN, Y_MAX = -2.0, 2.0
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Y_MIN, Y_MAX = -2.0, 2.0
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Z_MIN, Z_MAX = -2.0, 2.0
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Z_MIN, Z_MAX = -2.0, 2.0
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projection_matrices = matrices_reader('data/torus/matrices.txt')
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with open(PICKLE_PATH, 'rb') as file:
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projection_matrices = pickle.load(file)
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nb_frame = len(projection_matrices)
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nb_frame = len(projection_matrices)
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points = np.array([[x, y, z, 1.0] for x, y, z in product(
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points = np.array([[x, y, z, 1.0] for x, y, z in product(
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@ -18,10 +21,10 @@ points = np.array([[x, y, z, 1.0] for x, y, z in product(
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np.arange(Y_MIN, Y_MAX, VOXEL_SIZE),
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np.arange(Y_MIN, Y_MAX, VOXEL_SIZE),
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np.arange(Z_MIN, Z_MAX, VOXEL_SIZE))])
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np.arange(Z_MIN, Z_MAX, VOXEL_SIZE))])
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background = np.array([18, 18, 18])
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background = np.array([255, 255, 255])
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print('ok')
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for k in range(nb_frame):
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for k in range(nb_frame):
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frame = cv2.imread(f'data/torus/torus{k+1:04}.png')
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frame = cv2.imread(f'/tmp/masks/Image{k+1:04}.png')
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proj_mat = projection_matrices[k]
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proj_mat = projection_matrices[k]
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cam_points = proj_mat @ points.T
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cam_points = proj_mat @ points.T
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solid = np.invert(((frame[cam_points[1,:],cam_points[0,:]] == background)).all(1))
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solid = np.invert(((frame[cam_points[1,:],cam_points[0,:]] == background)).all(1))
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cam_points = cam_points[:,solid]
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cam_points = cam_points[:,solid]
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points = points[solid,:]
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points = points[solid,:]
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print('ok')
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for k in range(nb_frame):
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for k in range(nb_frame):
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frame = cv2.imread(f'data/torus/torus{k+1:04}.png')
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frame = cv2.imread(f'/tmp/images/Image{k+1:04}.png')
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# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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# frame = 255 * (frame == 18).astype(np.uint8)
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# frame = cv2.filter2D(frame, -1, np.ones((5, 5)) / 25)
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# frame = 255 * (frame > 255/2).astype(np.uint8)
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proj_mat = projection_matrices[k]
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proj_mat = projection_matrices[k]
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BIN
torus.blend
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torus.blend
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BIN
torus.blend1
Normal file
BIN
torus.blend1
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