projection peanut

src/draw.py

@@ -21,7 +21,7 @@ for i, x in enumerate(x_vals):
     for j, y in enumerate(y_vals):
         color = f"{hex(int(Z[j, i] * 255))[2:]}"
         if color == "0":
-            color = "#f00"
+            color = "#003"
         else:
             color = "#" + 3 * color
         plt.fill([x, x + 0.1, x + 0.1, x], [y, y, y + 0.1, y + 0.1], color=color)
@@ -44,7 +44,6 @@ for i in range(nb_cams):
     plt.text(cam_poses[i][0], cam_poses[i][1], str(i))
     x = np.array([[0, 0, 1], [0.5, -0.2, 1], [0.5, 0.2, 1], [0, 0, 1]]).T
     x = cam2world_projs[i] @ x
-    x /= x[2, :]
     plt.plot(x[0, :], x[1, :], "r-")
 
 
@@ -54,37 +53,38 @@ plt.axis("equal")
 
 
 # draw 1d image of the scene for each camera
-for i in range(2):
-    plt.figure()
+for i in [0, 8, 16, 24]:
+    plt.figure(f"cam {i}")
     # sort pixels by distance to camera
     cam_pose = cam_poses[i]
     pixels_dist = np.linalg.norm(np.array([X.flatten(), Y.flatten()]).T - cam_pose, axis=1)
     pixels_sort = np.argsort(pixels_dist)[::-1]
 
-    px = np.array([[-5, -5, 1], [5, -5, 1], [5, 5, 1], [-5, 5, 1]]).T
-    px = np.linalg.inv(cam2world_projs[i]) @ px
-    px /= px[1, :]
+    x0 = -1
+    x1 = 1
 
-    x0 = px[1, :].min()
-    x1 = px[1, :].max()
-
-    plt.fill([x0, x1, x1, x0], [0, 0, 1, 1], color="r")
+    plt.fill([x0, x1, x1, x0], [0, 0, 0.2, 0.2], color="#003")
 
     for j in pixels_sort:
         x, y = X.flatten()[j], Y.flatten()[j]
         color = f"{hex(int(Z.flatten()[j] * 255))[2:]}"
         if color == "0":
             continue
+        # color = "f"
         color = "#" + 3 * color
 
         px = np.array([[x, y, 1], [x + 0.1, y, 1], [x + 0.1, y + 0.1, 1], [x, y + 0.1, 1]]).T
         px = np.linalg.inv(cam2world_projs[i]) @ px
-        px /= px[1, :]
+        px /= px[0, :]
 
         x0 = px[1, :].min()
         x1 = px[1, :].max()
 
-        plt.fill([x0, x1, x1, x0], [0, 0, 1, 1], color=color)
-    plt.axis("equal")
+        plt.fill([x0, x1, x1, x0], [0, 0, 0.2, 0.2], color=color)
+    plt.xlim(-1, 1)
+    plt.ylim(0, 0.2)
+    plt.axis("off")
+    plt.savefig(f"data/peanut/images/Image{i:04}.png", dpi=300, bbox_inches="tight", pad_inches=0, transparent=True)
+
 
 plt.show()