| """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 |
|
|
| import cv2 |
| import numpy as np |
|
|
| from react_toolbox.calibration import load_calibration |
| from react_toolbox.frames import require_up_axis |
| from react_toolbox.probe_eval import overlay_gt, rollout_error |
| from react_toolbox.viz import draw_world_gizmo |
|
|
| 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 |
| 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()) |
|
|
