def make_mesh_2d(all_lines, O, R, g, n_points_w=None):
all_letters = np.concatenate([line.letters for line in all_lines])
corners_2d = np.concatenate([letter.corners() for letter in all_letters]).T
assert corners_2d.shape[0] == 2 and corners_2d.shape[1] == 4 * len(all_letters)
corners = image_to_focal_plane(corners_2d, O)
assert corners.shape[0] == 3
t0s = np.full((corners.shape[1],), np.inf, dtype=np.float64)
# Get the (X,Y,Z) on the GCS surface
corners_t, corners_XYZ = newton.t_i_k(R, g, corners, t0s)
corners_X, _, corners_Z = corners_XYZ
relative_Z_error = np.abs(g(corners_X) - corners_Z) / corners_Z
# Only leave corners that are not weird
# such as: |g(X) - Z| should be close, |Z| should not be extremely large, t < 0 (the GCS should be in front of the camera)
corners_XYZ = corners_XYZ[:, np.logical_and(relative_Z_error <= 0.02,
abs(corners_Z) < 1e6,
corners_t < 0)]
corners_X, _, _ = corners_XYZ
debug_print_points('corners.png', corners_2d)
if lib.debug:
try:
import matplotlib.pyplot as plt
ax = plt.axes()
box_XY = Crop.from_points(corners_XYZ[:2]).expand(0.01)
x_min, y_min, x_max, y_max = box_XY
for y in np.linspace(y_min, y_max, 3):
xs = np.linspace(x_min, x_max, 200)
ys = np.full(200, y)
zs = g(xs)
points = np.stack([xs, ys, zs])
points_r = inv(R).dot(points) + Of[:, newaxis]
ax.plot(points_r[0], points_r[2])
base_xs = np.array([corners[0].min(), corners[0].max()])
base_zs = np.array([-3270.5, -3270.5])
ax.plot(base_xs, base_zs)
ax.set_aspect('equal')
plt.savefig('dewarp/camera.png')
except Exception as e:
print(e)
import IPython
IPython.embed()
if g.split():
meshes = [
make_mesh_2d_indiv(all_lines, corners_XYZ[:, corners_X <= g.T], O, R, g, n_points_w=n_points_w),
make_mesh_2d_indiv(all_lines, corners_XYZ[:, corners_X > g.T], O, R, g, n_points_w=n_points_w),
]
else:
meshes = [make_mesh_2d_indiv(all_lines, corners_XYZ, O, R, g, n_points_w=n_points_w)]
for i, mesh in enumerate(meshes):
# debug_print_points('mesh{}.png'.format(i), mesh, step=20)
pass
return meshes
def E_align_project(R, g, all_points, t0s_idx):
global E_align_t0s
if len(E_align_t0s) <= t0s_idx:
E_align_t0s.extend([None] * (t0s_idx - len(E_align_t0s) + 1))
if E_align_t0s[t0s_idx] is None:
E_align_t0s[t0s_idx] = np.full((all_points.shape[1],), np.inf)
return newton.t_i_k(R, g, all_points, E_align_t0s[t0s_idx])
def E_str_project(R, g, base_points, t0s_idx):
global E_str_t0s
if len(E_str_t0s) <= t0s_idx:
E_str_t0s.extend([None] * (t0s_idx - len(E_str_t0s) + 1))
if E_str_t0s[t0s_idx] is None:
E_str_t0s[t0s_idx] = \
[np.full((points.shape[1],), np.inf) for points in base_points]
# print([point.shape for point in base_points])
# print([t0s.shape for t0s in E_str_t0s])
return [newton.t_i_k(R, g, points, t0s) \
for points, t0s in zip(base_points, E_str_t0s[t0s_idx])]