def __init__(self,base_cam,X3d,x2d,geom=None): self.base_cam = base_cam self.X3d = X3d self.x2d = x2d intrinsics = self.base_cam.to_dict() del intrinsics['Q'] del intrinsics['translation'] del intrinsics['name'] self.intrinsic_dict = intrinsics self._obj_dist = [] self.npts = len(self.X3d) if geom is not None: self.debug = True else: self.debug = False if PLOT and self.debug: plt.ion() self.fig = plt.figure() self.ax3d = self.fig.add_subplot(211, projection='3d') self.ax2d = self.fig.add_subplot(212) self.ax3d.set_xlabel('x') self.ax3d.set_ylabel('y') self.ax3d.set_zlabel('z') self.geom = geom self.plot_verts = get_3d_verts(self.geom)
def __init__(self, base_cam, X3d, x2d, geom=None): self.base_cam = base_cam self.X3d = X3d self.x2d = x2d intrinsics = self.base_cam.to_dict() del intrinsics['Q'] del intrinsics['translation'] del intrinsics['name'] self.intrinsic_dict = intrinsics self._obj_dist = [] self.npts = len(self.X3d) if geom is not None: self.debug = True else: self.debug = False if PLOT and self.debug: plt.ion() self.fig = plt.figure() self.ax3d = self.fig.add_subplot(211, projection='3d') self.ax2d = self.fig.add_subplot(212) self.ax3d.set_xlabel('x') self.ax3d.set_ylabel('y') self.ax3d.set_zlabel('z') self.geom = geom self.plot_verts = get_3d_verts(self.geom)
def plot_setup(geometry_filename, display_bagfiles): geom = simple_geom.Geometry(geometry_filename) displays = [ pymvg.CameraModel.load_camera_from_bagfile(dbf) for dbf in display_bagfiles ] print geometry_filename print display_bagfiles print[d.get_name() for d in displays] display = displays[0] tcs = np.zeros((display.height, display.width, 2)) - 1 fig = plt.figure() ax = fig.add_subplot(111, projection='3d') verts = get_3d_verts(geom) ax.plot(verts[:, 0], verts[:, 1], verts[:, 2], 'ko') for display in displays: plot_camera(ax, display) ax.set_xlabel('x') ax.set_ylabel('y') ax.set_zlabel('z') if 1: fig = plt.figure() n = len(displays) for i in range(n): display = displays[i] ax = fig.add_subplot(n, 1, i + 1) pts = display.project_3d_to_pixel(verts) ax.plot(pts[:, 0], pts[:, 1], 'ko') ax.set_xlim([0, display.width]) ax.set_ylim([0, display.height]) ax.set_title(display.name) if 1: plt.show()
display_bagfiles): geom = simple_geom.Geometry(geometry_filename) displays = [pymvg.CameraModel.load_camera_from_bagfile(dbf) for dbf in display_bagfiles] print geometry_filename print display_bagfiles print [d.get_name() for d in displays] display = displays[0] tcs = np.zeros( (display.height,display.width,2))-1 fig = plt.figure() ax = fig.add_subplot(111, projection='3d') verts = get_3d_verts(geom) ax.plot( verts[:,0], verts[:,1], verts[:,2], 'ko' ) for display in displays: plot_camera(ax, display) ax.set_xlabel('x') ax.set_ylabel('y') ax.set_zlabel('z') if 1: fig = plt.figure() n = len(displays) for i in range(n): display = displays[i] ax = fig.add_subplot(n,1,i+1)