projection peanut
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parent
69ea7232dc
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28
src/draw.py
28
src/draw.py
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@ -21,7 +21,7 @@ for i, x in enumerate(x_vals):
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for j, y in enumerate(y_vals):
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for j, y in enumerate(y_vals):
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color = f"{hex(int(Z[j, i] * 255))[2:]}"
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color = f"{hex(int(Z[j, i] * 255))[2:]}"
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if color == "0":
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if color == "0":
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color = "#f00"
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color = "#003"
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else:
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else:
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color = "#" + 3 * color
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color = "#" + 3 * color
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plt.fill([x, x + 0.1, x + 0.1, x], [y, y, y + 0.1, y + 0.1], color=color)
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plt.fill([x, x + 0.1, x + 0.1, x], [y, y, y + 0.1, y + 0.1], color=color)
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@ -44,7 +44,6 @@ for i in range(nb_cams):
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plt.text(cam_poses[i][0], cam_poses[i][1], str(i))
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plt.text(cam_poses[i][0], cam_poses[i][1], str(i))
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x = np.array([[0, 0, 1], [0.5, -0.2, 1], [0.5, 0.2, 1], [0, 0, 1]]).T
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x = np.array([[0, 0, 1], [0.5, -0.2, 1], [0.5, 0.2, 1], [0, 0, 1]]).T
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x = cam2world_projs[i] @ x
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x = cam2world_projs[i] @ x
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x /= x[2, :]
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plt.plot(x[0, :], x[1, :], "r-")
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plt.plot(x[0, :], x[1, :], "r-")
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@ -54,37 +53,38 @@ plt.axis("equal")
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# draw 1d image of the scene for each camera
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# draw 1d image of the scene for each camera
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for i in range(2):
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for i in [0, 8, 16, 24]:
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plt.figure()
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plt.figure(f"cam {i}")
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# sort pixels by distance to camera
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# sort pixels by distance to camera
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cam_pose = cam_poses[i]
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cam_pose = cam_poses[i]
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pixels_dist = np.linalg.norm(np.array([X.flatten(), Y.flatten()]).T - cam_pose, axis=1)
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pixels_dist = np.linalg.norm(np.array([X.flatten(), Y.flatten()]).T - cam_pose, axis=1)
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pixels_sort = np.argsort(pixels_dist)[::-1]
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pixels_sort = np.argsort(pixels_dist)[::-1]
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px = np.array([[-5, -5, 1], [5, -5, 1], [5, 5, 1], [-5, 5, 1]]).T
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x0 = -1
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px = np.linalg.inv(cam2world_projs[i]) @ px
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x1 = 1
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px /= px[1, :]
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x0 = px[1, :].min()
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plt.fill([x0, x1, x1, x0], [0, 0, 0.2, 0.2], color="#003")
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x1 = px[1, :].max()
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plt.fill([x0, x1, x1, x0], [0, 0, 1, 1], color="r")
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for j in pixels_sort:
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for j in pixels_sort:
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x, y = X.flatten()[j], Y.flatten()[j]
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x, y = X.flatten()[j], Y.flatten()[j]
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color = f"{hex(int(Z.flatten()[j] * 255))[2:]}"
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color = f"{hex(int(Z.flatten()[j] * 255))[2:]}"
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if color == "0":
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if color == "0":
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continue
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continue
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# color = "f"
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color = "#" + 3 * color
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color = "#" + 3 * color
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px = np.array([[x, y, 1], [x + 0.1, y, 1], [x + 0.1, y + 0.1, 1], [x, y + 0.1, 1]]).T
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px = np.array([[x, y, 1], [x + 0.1, y, 1], [x + 0.1, y + 0.1, 1], [x, y + 0.1, 1]]).T
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px = np.linalg.inv(cam2world_projs[i]) @ px
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px = np.linalg.inv(cam2world_projs[i]) @ px
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px /= px[1, :]
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px /= px[0, :]
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x0 = px[1, :].min()
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x0 = px[1, :].min()
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x1 = px[1, :].max()
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x1 = px[1, :].max()
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plt.fill([x0, x1, x1, x0], [0, 0, 1, 1], color=color)
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plt.fill([x0, x1, x1, x0], [0, 0, 0.2, 0.2], color=color)
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plt.axis("equal")
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plt.xlim(-1, 1)
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plt.ylim(0, 0.2)
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plt.axis("off")
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plt.savefig(f"data/peanut/images/Image{i:04}.png", dpi=300, bbox_inches="tight", pad_inches=0, transparent=True)
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plt.show()
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plt.show()
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