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plot_reconstruction.py
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plot_reconstruction.py
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import bpy
import blender_plots as bplt
import blender_plots.blender_utils as bu
import numpy as np
from tqdm import tqdm
from triangulation_relaxations import geometry
ydown2zup = np.array([
[0, 0, 1, 0],
[-1, 0, 0, 0],
[0, -1, 0, 0],
[0, 0, 0, 1]
])
def srgb_to_linearrgb(c):
if c < 0: return 0
elif c < 0.04045: return c/12.92
else: return ((c+0.055)/1.055)**2.4
def hex_to_rgb(h,alpha=1):
# source: https://blender.stackexchange.com/questions/153094/blender-2-8-python-how-to-set-material-color-using-hex-value-instead-of-rgb
r = (h & 0xff0000) >> 16
g = (h & 0x00ff00) >> 8
b = (h & 0x0000ff)
return tuple([srgb_to_linearrgb(c/0xff) for c in (r,g,b)] + [alpha])
orange1 = hex_to_rgb(0xff9a00)
orange2 = hex_to_rgb(0xff5d00)
blue1 = hex_to_rgb(0x00a2ff)
blue2 = hex_to_rgb(0x0065ff)
white = [1, 1, 1]
def get_frustum(intrinsics, height, width, image_depth, name="", with_fill=True):
frustum_points = np.array([
[0, height, 1],
[width, height, 1],
[0, 0, 1],
[width, 0, 1]
]) * image_depth
frustum_points = np.einsum('ij,...j->...i',
np.linalg.inv(intrinsics),
frustum_points,
)
frustum_edges = np.array([
[0, 1],
[1, 3],
[3, 2],
[2, 0],
[0, 4],
[1, 4],
[2, 4],
[3, 4]
])
frustum_faces = [
[0, 1, 4],
[1, 3, 4],
[3, 2, 4],
[2, 0, 4],
]
mesh = bpy.data.meshes.new("frustum")
mesh.from_pydata(np.vstack([frustum_points, np.zeros(3)]), frustum_edges, frustum_faces)
frustum = bu.new_empty("frustum" + name, mesh)
modifier = bu.add_modifier(frustum, "WIREFRAME", use_crease=True, crease_weight=0.6, thickness=0.03, use_boundary=True)
bpy.context.view_layer.objects.active = frustum
bpy.ops.object.modifier_apply(modifier=modifier.name)
if with_fill:
mesh_fill = bpy.data.meshes.new("fill")
mesh_fill.from_pydata(np.vstack([frustum_points, np.zeros(3)]), frustum_edges, frustum_faces + [[0, 1, 3, 2]])
fill = bu.new_empty("fill" + name, mesh_fill)
else:
fill = None
return fill, frustum
def set_color(mesh, color):
if len(color) == 3:
color = [*color, 1.]
mesh.materials.append(bpy.data.materials.new("color"))
mesh.materials[0].use_nodes = True
mesh.materials[0].node_tree.nodes["Principled BSDF"].inputs["Base Color"].default_value = color
def make_line(start, end, width=0.05, name="line", color=None):
line_mesh = bpy.data.meshes.new(name)
line_mesh.from_pydata([start, end], [[0, 1]], [])
line = bplt.blender_utils.new_empty(name, object_data=line_mesh)
bplt.blender_utils.add_modifier(line, "SKIN")
bplt.blender_utils.add_modifier(line, "SUBSURF", levels=3, render_levels=3)
line.data.skin_vertices[''].data[0].radius = (width, width)
line.data.skin_vertices[''].data[1].radius = (width, width)
if color is not None:
set_color(line_mesh, color)
return line
def plot_cameras(poses, intrinsics, height, width, image_depth, name="", with_fill=True):
fill, frustum = get_frustum(intrinsics, height, width, image_depth, name, with_fill)
if with_fill:
s = bplt.Scatter(
poses.t,
marker_rotation=poses.R,
marker_type=fill,
color=orange2,
name="fill_scatter" + name,
)
s = bplt.Scatter(
poses.t,
marker_rotation=poses.R,
marker_type=frustum,
name="frustum_scatter" + name,
color=orange1,
)
def plot_observations(poses, observations, intrinsics, image_depth, size=1., name="observations"):
s = bplt.Scatter(
np.einsum('...ij, ...j->...i', poses.T, geometry.homogenize(np.einsum('...ij, ...j->...i', np.linalg.inv(intrinsics), geometry.homogenize(observations) * image_depth)))[:, :-1],
marker_type="cubes",
color=np.zeros(3),
size=np.array([0.05, 0.05, 0.005]) * size,
marker_rotation=poses.R,
name=name
)
def plot_problem(poses, observations, intrinsics, shapes, image_depth, with_fill=True, line_color=None, inlier_mask=None, neg_line=False, line_width=0.01):
if line_color is None:
line_color = np.ones(3) * 0.1
if inlier_mask is None:
inlier_mask = [True for _ in range(len(poses))]
for i in tqdm(range(len(poses))):
plot_cameras(poses[i], intrinsics[i], *shapes[i], image_depth, f"_{i}", with_fill=with_fill)
plot_observations(poses, observations, intrinsics, image_depth, name="2d observations")
for i, (pose, observation) in enumerate(zip(poses, observations)):
make_line(
pose.t,
(pose.T @ geometry.homogenize(np.linalg.inv(intrinsics[i]) @ geometry.homogenize(observation) * 100))[:-1],
width=line_width,
color=line_color if inlier_mask[i] else [1, 0, 0],
name=f'observation_{i}',
)
if neg_line:
make_line(
pose.t,
(pose.T @ geometry.homogenize(-np.linalg.inv(intrinsics[i]) @ geometry.homogenize(observation) * 100))[:-1],
width=line_width,
color=line_color if inlier_mask[i] else [1, 0, 0],
name=f'observation_negative_{i}',
)
def plot_point(point, color=[0, 0, 1], point_radius=0.06, name='point'):
bplt.Scatter(
point,
color=color,
marker_type='spheres',
name=name,
radius=point_radius
)
def setup_scene(floor_z=None, resolution=None, sun_energy=1):
if floor_z is not None:
floor_size = 500
floor = bplt.Scatter([0, 0, floor_z], marker_type='cubes', size=(floor_size, floor_size, 0.1), name='floor')
floor.base_object.is_shadow_catcher = True
if resolution == 'thin':
resolution = (1363, 2592)
if resolution is not None:
bpy.context.scene.render.resolution_x = resolution[0]
bpy.context.scene.render.resolution_y = resolution[1]
bpy.data.worlds["World"].node_tree.nodes["Background"].inputs[0].default_value = (1, 1, 1, 1)
bpy.context.scene.render.engine = 'CYCLES'
bpy.data.scenes["Scene"].cycles.samples = 256
if "Sun" in bpy.data.objects:
bpy.data.objects.remove(bpy.data.objects["Sun"])
bpy.ops.object.light_add(type='SUN', radius=1, align='WORLD', location=(0, 0, 0), scale=(1, 1, 1))
bpy.data.objects["Sun"].data.energy = sun_energy
bpy.data.objects["Sun"].data.angle = 0
bpy.data.worlds["World"].node_tree.nodes["Background"].inputs["Strength"].default_value = 1.0