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138 lines
4.7 KiB
Python
138 lines
4.7 KiB
Python
# Copyright 2022 The Plenoptix Team. 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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"""Logic to render Camera objects in the Viewer"""
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from typing import List, Optional, Tuple
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import cv2
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import numpy as np
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from . import geometry as g
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from .geometry import LineBasicMaterial, LineSegments, PointsGeometry
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class ImagePlane(g.Mesh):
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"""Returns an image rendered within a specified plane
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Args:
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image: image to be displayed
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height: height of image. Defaults to 1.
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width: width of image. Defaults to 1.
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"""
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def __init__(self, image: np.ndarray, height: int = 1, width: int = 1):
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# TODO(ethan): decide how to deal with the height and width
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self.image = image
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geometry = g.PlaneGeometry([width, height])
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material = g.MeshBasicMaterial(
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map=g.ImageTexture(image=g.PngImage(cv2.imencode(".png", self.image[:, :, ::-1])[1].tobytes()))
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)
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super().__init__(geometry, material)
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def get_camera_wireframe(scale: float = 0.3, f: int = 4, w: int = 1.5, h: int = 2) -> np.ndarray:
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"""Returns a wireframe of a 3D line-plot of a camera symbol.
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At https://github.com/hangg7/mvs_visual/blob/275d382a824733a3187a8e3147be184dd6f14795/mvs_visual.py#L54.
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Args:
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scale: scale of rendering
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f: this is the focal length
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w: width
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h: height
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Returns:
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np.ndarray: stack of points corresponding to wireframe of camera
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"""
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ul = np.array([-w, h, -f])
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ur = np.array([w, h, -f])
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ll = np.array([-w, -h, -f])
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lr = np.array([w, -h, -f])
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C = np.zeros(3)
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camera_points = [C, ul, C, ur, C, ll, C, lr, C, ul, ur, ul, lr, ur, lr, ll, ll, ul]
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lines = np.stack(camera_points) * scale
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return lines
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def get_plane_pts(
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focal_length: Tuple[float, float] = (1.0, 1.0),
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image_size: Tuple[int, int] = (10, 10),
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camera_scale: int = 1,
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scale_factor: float = 1 / 4,
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) -> np.ndarray:
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"""Returns points on the image plane given camera intrinsics
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Args:
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focal_length: focal length of camera. Defaults to (1.0, 1.0).
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image_size: height and width of image. Defaults to (10, 10).
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camera_scale: camera intrinsics scale. Defaults to 1.
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scale_factor: image scale. Defaults to 1/4.
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"""
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Z = -(focal_length[0] + focal_length[1]) / 2 * camera_scale
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X0, Y0, X1, Y1 = (
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-image_size[0] / 2 * camera_scale,
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image_size[1] / 2 * camera_scale,
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image_size[0] / 2 * camera_scale,
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-image_size[1] / 2 * camera_scale,
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)
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# scale image to plane such that it can go outside of the x0x1 range.
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W, H = X1 - X0, Y0 - Y1
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w, h = image_size
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ratio = min(w / W, h / H)
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oW, oH = w / ratio, h / ratio # pylint: disable=invalid-name
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X0, Y0, X1, Y1 = -oW / 2, oH / 2, oW / 2, -oH / 2
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wsteps, hsteps = int(w * scale_factor), int(h * scale_factor)
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Ys, Xs = np.meshgrid(
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np.linspace(Y0, Y1, num=hsteps),
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np.linspace(X0, X1, num=wsteps),
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indexing="ij",
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)
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Zs = np.ones_like(Xs) * Z
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plane_pts = np.stack([Xs, Ys, Zs], axis=-1)
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return plane_pts
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def frustum(
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scale: float = 1.0,
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color: Optional[List[float]] = None,
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focal_length: int = 4,
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width: float = 1.5,
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height: int = 2,
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) -> LineSegments:
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"""Draws the camera frustums, returning line segments representing the frustums
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Args:
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scale: scale of the rendering. Defaults to 1.0.
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color: color of lines. Defaults to [0, 0, 0].
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focal_length: focal length of camera. Defaults to 4.
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width: width of wireframe. Defaults to 1.5.
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height: height of wireframe. Defaults to 2.
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"""
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# color - color of lines using R, G, B. default is black
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if color is None:
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color = [0, 0, 0]
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# TODO(ethan): make the scale adjustable depending on the camera size
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# print("linewidth")
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camera_wireframe_lines = get_camera_wireframe(scale=scale, f=focal_length, w=width / 2.0, h=height / 2.0)
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N = len(camera_wireframe_lines)
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colors = np.array([color for _ in range(N)])
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line_segments = LineSegments(
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PointsGeometry(position=camera_wireframe_lines.astype(np.float32).T, color=colors.astype(np.float32).T),
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LineBasicMaterial(vertexColors=True),
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)
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return line_segments
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