| """Derive agent-facing physical evidence from an existing GeoPano result.""" |
|
|
| import argparse |
| import json |
| from pathlib import Path |
|
|
| import numpy as np |
|
|
| ROOT = Path(__file__).resolve().parents[1] |
|
|
|
|
| def parse_args(): |
| parser = argparse.ArgumentParser(description=__doc__) |
| parser.add_argument('--result', type=Path, required=True, |
| help='One existing outputs/<image_stem> result directory.') |
| parser.add_argument('--overwrite', action='store_true', |
| help='Replace existing evidence files.') |
| return parser.parse_args() |
|
|
|
|
| def main(): |
| args = parse_args() |
| result = args.result.expanduser().resolve() |
| points_path = result / 'pano_points.npy' |
| if not points_path.is_file(): |
| raise ValueError(f'{result} must contain pano_points.npy.') |
| output_names = [ |
| 'pano_view_count.npy', 'pano_fusion_disagreement.npy', |
| 'pano_normals.npy', 'pano_normal_confidence.npy', 'pano_normal_mask.npy', |
| 'pano_curvature.npy', 'pano_curvature_confidence.npy', 'pano_curvature_mask.npy', |
| ] |
| existing = [result / name for name in output_names if (result / name).exists()] |
| if existing and not args.overwrite: |
| raise ValueError(f'Evidence already exists in {result}; use --overwrite.') |
|
|
| import sys |
| sys.path.insert(0, str(ROOT)) |
| from geopano.evidence import derive_point_evidence |
|
|
| points = np.load(points_path, allow_pickle=False).astype(np.float32, copy=False) |
| valid = np.isfinite(points).all(axis=-1) & (np.linalg.norm(points, axis=-1) > 1e-8) |
| evidence = derive_point_evidence(points, valid_mask=valid) |
| |
| |
| |
| view_count = np.zeros(valid.shape, dtype=np.uint8) |
| disagreement = np.zeros(valid.shape, dtype=np.float32) |
| np.save(result / 'pano_view_count.npy', view_count) |
| np.save(result / 'pano_fusion_disagreement.npy', disagreement) |
| for name, array in evidence.items(): |
| np.save(result / f'pano_{name}.npy', array) |
|
|
| metadata_path = result / 'metadata.json' |
| metadata = json.loads(metadata_path.read_text()) if metadata_path.is_file() else {} |
| metadata['evidence'] = { |
| 'schema_version': 1, |
| 'files': output_names, |
| 'confidence_semantics': 'heuristic reliability score in [0,1], not a calibrated probability', |
| 'normal_convention': 'unit vectors oriented toward the panorama origin; horizontal neighbours wrap', |
| 'curvature_semantics': 'mean neighbour normal-angle change per 3D distance; inverse uncalibrated scene units', |
| 'fusion_disagreement_semantics': 'not available because this result predates --save-evidence; stored as zero', |
| 'scale': 'uncalibrated', |
| } |
| metadata_path.write_text(json.dumps(metadata, indent=2) + '\n') |
| print(f'Wrote evidence to {result}') |
|
|
|
|
| if __name__ == '__main__': |
| main() |
|
|
