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)