File size: 4,192 Bytes
3fc5b7d ae5a387 3fc5b7d 2de4806 3fc5b7d 2de4806 3fc5b7d ae5a387 3fc5b7d 2de4806 3fc5b7d 4221307 3fc5b7d 2de4806 3fc5b7d 4221307 3fc5b7d 2de4806 3fc5b7d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 | """Render the test set's overlay stills and the four-panel example figure.
Written out as a script because it had been inlined three times, and an
inlined renderer drifts from the package it illustrates — which is the same
failure the clip page had.
"""
from __future__ import annotations
import argparse
import json
import sys
from pathlib import Path
sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
from react_paths import testset_root # noqa: E402
import cv2 # noqa: E402
import numpy as np # noqa: E402
from react_toolbox.calibration import load_calibration # noqa: E402
from react_toolbox.frames import require_up_axis # noqa: E402
from react_toolbox.probe_eval import overlay_gt, rollout_error # noqa: E402
from react_toolbox.viz import draw_world_gizmo # noqa: E402
FONT = cv2.FONT_HERSHEY_SIMPLEX
def _hud(img, text, h=16, scale=0.36):
img = np.ascontiguousarray(img)
cv2.rectangle(img, (0, 0), (img.shape[1], h + 1), (0, 0, 0), -1)
cv2.putText(img, text, (4, h - 4), FONT, scale, (255, 255, 255), 1, cv2.LINE_AA)
return img
def main() -> int:
ap = argparse.ArgumentParser()
ap.add_argument("--root", default=str(testset_root()))
args = ap.parse_args()
root = Path(args.root)
cal = load_calibration(root)
require_up_axis(cal, where=f"{root}/calibration")
man = json.loads((root / "manifest.json").read_text())
runs = [json.loads((root / p["meta"]).read_text()) for p in man["probes"]]
(root / "overlays").mkdir(exist_ok=True)
cam = cal["cams"]["middle"]
for m in runs:
img = cv2.imread(str(root / f"probes/run{m['run']}/context/ctx3_view_middle.jpg"))[:, :, ::-1]
gel_m, gel_o = cal[f"gel_{m['moving_side']}"], cal[f"gel_{m['held_side']}"]
for q in m["probes"]:
d = np.load(root / q["file"])
vis = overlay_gt(img, d["poses"], gel_m, cam, held_pose7=d["held_pose"],
held_gel_mm=gel_o, label=m["moving_side"][0].upper())
vis = draw_world_gizmo(vis, cam, corner="tl", margin=26, title="world (z-up)")
unit = "m" if q["amplitude_unit"] == "m" else "deg"
vis = _hud(vis, f"{q['name']} {q['amplitude']:g}{unit} "
f"{q['horizon_s']:.2f}s p{q['speed_percentile']:.0f}")
cv2.imwrite(str(root / "overlays" / f"run{m['run']}_{q['name']}.jpg"),
vis[:, :, ::-1], [cv2.IMWRITE_JPEG_QUALITY, 88])
tiles = []
for run, name in ((0, "trans+x"), (0, "rot+y"), (3, "trans-z"), (3, "rot-x")):
m = runs[run]
d = np.load(root / f"probes/run{run}/{name}.npz")
img = cv2.imread(str(root / f"probes/run{run}/context/ctx3_view_middle.jpg"))[:, :, ::-1]
gel_m, gel_o = cal[f"gel_{m['moving_side']}"], cal[f"gel_{m['held_side']}"]
vis = overlay_gt(img, d["poses"], gel_m, cam, held_pose7=d["held_pose"],
held_gel_mm=gel_o, label=m["moving_side"][0].upper())
bad = d["poses"].copy()
bad[:, 0] += 0.025 # a deliberately wrong rollout
vis = overlay_gt(vis, bad, gel_m, cam, color=(255, 90, 90))
vis = draw_world_gizmo(vis, cam, corner="tl", margin=26, title="world (z-up)")
e = rollout_error(bad, d["poses"], gel_m, cam)
q = next(p for p in m["probes"] if p["name"] == name)
unit = "m" if q["amplitude_unit"] == "m" else "deg"
tiles.append(_hud(vis, f"run{run} {name} {q['amplitude']:g}{unit} "
f"p{q['speed_percentile']:.0f} yellow=GT "
f"red=+25mm rollout ({e['px_final']:.0f}px)",
h=17, scale=0.34)[:, :, ::-1])
cv2.imwrite(str(root / "overlay_example.jpg"),
np.vstack([np.hstack(tiles[:2]), np.hstack(tiles[2:])]),
[cv2.IMWRITE_JPEG_QUALITY, 92])
n = sum(len(m["probes"]) for m in runs)
print(f"{n} overlays + overlay_example.jpg -> {root}")
return 0
if __name__ == "__main__":
raise SystemExit(main())
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