def get_scale_factor(query_bbox, points3d_scaled, intrinsics, width=360, height=480):
points2d_px_result = geo.project_3d_to_2d(points3d_scaled, intrinsics)
#points2d_px_query = geo.project_3d_to_2d(points_3d_query, intrinsics)
result_bbox = geo.get_bbox(points2d_px_result, width, height)
#query_bbox = geo.get_bbox(points2d_px_query, width, height)
scale = geo.get_bbox_area(query_bbox) / geo.get_bbox_area(result_bbox)
return scale
def get_match_snapped_points(idx, match_idx, info_df, train_info_df, ground_truth=False, rescale=True, align_axis=True):
assert type(match_idx)==int
plane_center, plane_normal = get_plane(info_df, idx)
points2d, points3d = get_points(info_df,idx)
points3d_result_rotated, points3d_result = get_match_aligned_points(idx, match_idx, info_df, train_info_df, ground_truth = ground_truth)
snapped, intersect = geo.snap_box_to_plane(points3d_result_rotated, plane_normal, plane_center, align_axis=align_axis)
result = snapped
if rescale:
points2d_result, _ = get_points(train_info_df,match_idx)
#points3d_result = np.array(points3d_result)
camera = get_camera(info_df, idx)
intrinsics = get_intrinsics(camera)
intrinsics = geo.scale_intrinsics(intrinsics, 0.25, 0.25)
points2d_px = geo.project_3d_to_2d(snapped, intrinsics)
dest_bbox = geo.get_bbox(points2d_px, 360, 480)
points2d_valid, points3d_valid = get_points(info_df, idx)
valid_image = Image.open(info_df.iloc[idx]["filepath_full"])
points2d_valid_px = geo.points_2d_to_points2d_px(points2d_valid, valid_image.width, valid_image.height)
valid_bbox = geo.get_bbox(points2d_valid_px, valid_image.width, valid_image.height)
scale_x, scale_y = geo.get_scale_factors(dest_bbox, valid_bbox)
scale_factor = (scale_x + scale_y)/2
#print(scale_factor)
fixed_point = snapped[0]
snapped_rotated = snapped.copy()
#scale_factor = 1.2
snapped_rotated=(snapped_rotated-fixed_point)*scale_factor+fixed_point
snapped_rotated, intersect=geo.snap_box_to_plane(snapped_rotated, plane_normal, plane_center)
result = snapped_rotated
return result, points3d_result