def generate_mask_image(self):
from lib.utils.draw_utils import img_pts_to_pts_img
for k in range(0, self.image_num):
img_pts = Projector.project_K(self.printer_model_pts.copy(),
self.poses[k], self.K['cat'])
pts_img = img_pts_to_pts_img(img_pts, 484, 648)
imsave(self.mask_pattern.format(k + 1), pts_img.astype(np.uint8))
def validate_original_poses(self):
for k in range(0,self.image_num,20):
rgb=imread(self.image_pattern.format(k+1))
img_pts=Projector.project_K(self.printer_model_pts.copy(), self.poses[k], self.K['cat'])
pts_img=img_pts_to_pts_img(img_pts,484,648)
print(self.poses[k])
rgb[pts_img>0]//=2
rgb[pts_img>0]+=np.asarray([127,0,0],np.uint8)
plt.imshow(rgb)
plt.show()
def validate_aligned_poses(self):
aligner=ModelAligner()
for k in range(0,self.image_num,20):
rgb=imread(self.image_pattern.format(k+1))
pose_aligned=aligner.pose_p2w(self.poses[k])
img_pts=Projector.project_K(self.model_pts.copy(), pose_aligned, self.K['cat'])
pts_img=img_pts_to_pts_img(img_pts,484,648)
rgb[pts_img>0]//=2
rgb[pts_img>0]+=np.asarray([127,0,0],np.uint8)
plt.imshow(rgb)
plt.show()
