Reprojection logic

pyba/Camera.py

@@ -41,7 +41,7 @@ def __init__(
         self.intrinsic = intr
         self.tvec = tvec
         self.R = R
-        self.distort = np.zeros(5, dtype=np.float) if distort is None else distort
+        self.distort = np.zeros(5, dtype=float) if distort is None else distort
 
     @property
     def P(self):
@@ -119,7 +119,7 @@ def get_njoints(self):
 
     def get_image(self, img_id: int):
         try:
-            img = plt.imread(self.image_path.format(img_id=img_id))
+            img = cv2.imread(self.image_path.format(img_id=img_id))
         except:
             img = np.zeros((480, 960), dtype=np.uint8)
         if img.ndim == 2 or (img.ndim == 3 and img.shape[-1] == 1):
@@ -142,29 +142,39 @@ def summarize(self):
     def plot_2d(
         self,
         img_id: int,
-        points2d: Optional[np.ndarray] = None,
+        points: Optional[np.ndarray] = None,
         bones: Optional[np.ndarray] = None,
         colors: Optional[List[Tuple]] = None,
     ) -> np.ndarray:
-        img = self.get_image(img_id)
-        points2d = self.points2d[img_id] if points2d is None else points2d
+        """
+        Parameters
+        ----------
+        ...
+
+        points: either points2d to plot directly, or points3d in which case they will
+        be projected for plotting.
 
+        """
+        img = self.get_image(img_id)
+        points = self.points2d[img_id] if points is None else points[[img_id]]
+        if points.shape[-1] == 3:  # If 3D points are given, project them
+            points = self.project(points).squeeze()
         # bones
         if bones is not None:
             for idx, b in enumerate(bones):
                 if self.can_see(img_id, b[0]):
                     img = cv2.line(
                         img,
-                        tuple(points2d[b[0]].astype(int)),
-                        tuple(points2d[b[1]].astype(int)),
+                        tuple(points[b[0]].astype(int)),
+                        tuple(points[b[1]].astype(int)),
                         colors[idx] if colors is not None else (128, 0, 0),
                         5,
                     )
 
         for jid in range(self.get_njoints()):
             if self.can_see(img_id, jid):
                 img = cv2.circle(
-                    img, tuple(points2d[jid].astype(int)), 5, [0, 0, 128], 5
+                    img, tuple(points[jid].T.astype(int)), 5, [0, 0, 128], 5
                 )
 
         return img

pyba/config.py

@@ -1,34 +1,58 @@
 import numpy as np
 
+LEG_RIGHT_FRONT = (178, 178, 255)
+LEG_RIGHT_MIDDLE = (102, 102, 255)
+LEG_RIGHT_REAR = (0, 0, 255)
+LEG_LEFT_FRONT = (255, 178, 178)
+LEG_LEFT_MIDDLE = (255, 102, 102)
+LEG_LEFT_REAR = (255, 0, 0)
+BODY = (255, 254, 254)
+
+# LEG_RIGHT_FRONT = (198, 219, 239)
+# LEG_RIGHT_MIDDLE = (107, 174, 214)
+# LEG_RIGHT_REAR = (49, 130, 189)
+# LEG_LEFT_FRONT = (253, 174, 107)
+# LEG_LEFT_MIDDLE = (253, 141,  60)
+# LEG_LEFT_REAR = (230,  85,  13)
+# BODY = (49, 163,  84)
+
+LEG_RIGHT_FRONT = (186, 30, 49)
+LEG_RIGHT_MIDDLE = (201, 86, 79)
+LEG_RIGHT_REAR = (213, 133, 121)
+LEG_LEFT_FRONT = (15, 115, 153)
+LEG_LEFT_MIDDLE = (26, 141, 175)
+LEG_LEFT_REAR = (117, 190, 203)
+BODY = (210, 210, 210)
+
 df3d_colors = [
-    (255, 0, 0),
-    (255, 0, 0),
-    (255, 0, 0),
-    (255, 0, 0),
-    (0, 0, 255),
-    (0, 0, 255),
-    (0, 0, 255),
-    (0, 0, 255),
-    (0, 255, 0),
-    (0, 255, 0),
-    (0, 255, 0),
-    (0, 255, 0),
-    (255, 131, 0),
-    (255, 131, 0),
-    (255, 255, 0),
-    (255, 255, 0),
-    (255, 255, 0),
-    (255, 255, 0),
-    (255, 0, 255),
-    (255, 0, 255),
-    (255, 0, 255),
-    (255, 0, 255),
-    (0, 255, 0),
-    (0, 255, 0),
-    (0, 255, 0),
-    (0, 255, 0),
-    (255, 131, 0),
-    (255, 131, 0),
+    LEG_RIGHT_FRONT,
+    LEG_RIGHT_FRONT,
+    LEG_RIGHT_FRONT,
+    LEG_RIGHT_FRONT,
+	LEG_RIGHT_MIDDLE,
+    LEG_RIGHT_MIDDLE,
+    LEG_RIGHT_MIDDLE,
+    LEG_RIGHT_MIDDLE,
+	LEG_RIGHT_REAR,
+    LEG_RIGHT_REAR,
+    LEG_RIGHT_REAR,
+    LEG_RIGHT_REAR,
+    BODY,
+    BODY,
+	LEG_LEFT_FRONT,
+    LEG_LEFT_FRONT,
+    LEG_LEFT_FRONT,
+    LEG_LEFT_FRONT,
+	LEG_LEFT_MIDDLE,
+    LEG_LEFT_MIDDLE,
+    LEG_LEFT_MIDDLE,
+    LEG_LEFT_MIDDLE,
+    LEG_LEFT_REAR,
+    LEG_LEFT_REAR,
+    LEG_LEFT_REAR,
+    LEG_LEFT_REAR,
+    BODY,
+    BODY,
 ]
 
 df3d_bones = np.array([[i, i + 1] for i in range(15) if (i + 1) % 5 != 0])

pyba/plot.py

@@ -71,12 +71,12 @@ def plot_3d(
     points3d = np.copy(points3d)
     points3d -= points3d.mean()
     white = (1.0, 1.0, 1.0, 0.0)
-    ax_3d.w_xaxis.set_pane_color(white)
-    ax_3d.w_yaxis.set_pane_color(white)
+    ax_3d.xaxis.set_pane_color(white)
+    ax_3d.yaxis.set_pane_color(white)
 
-    ax_3d.w_xaxis.line.set_color(white)
-    ax_3d.w_yaxis.line.set_color(white)
-    ax_3d.w_zaxis.line.set_color(white)
+    ax_3d.xaxis.line.set_color(white)
+    ax_3d.yaxis.line.set_color(white)
+    ax_3d.zaxis.line.set_color(white)
 
     if lim is not None:
         max_range = lim

pyba/pyba.py

@@ -162,7 +162,7 @@ def residuals(
     points3d = params[n_cameras * 13 :].reshape((n_points, 3))
     cam_indices_list = list(set(camera_indices))
 
-    points_proj = np.zeros(shape=(point_indices.shape[0], 2), dtype=np.float)
+    points_proj = np.zeros(shape=(point_indices.shape[0], 2), dtype=float)
     for cam_id in cam_indices_list:
         update_parameters(
             camera_params[cam_id], cam_list[cam_id], update_intrinsic, update_distort

pyproject.toml

@@ -0,0 +1,4 @@
+# See https://github.com/pypa/pip/issues/11457
+[build-system]
+requires = ["setuptools >= 64"]
+build-backend = "setuptools.build_meta"

setup.py

@@ -4,12 +4,18 @@
     long_description = fh.read()
 
 setuptools.setup(
-    name="pyba",
-    version="0.12",
+    name="nely-pyba",
+    version="0.13.1",
     author="Semih Günel",
     packages=["pyba"],
     description="Python Bundle Adjustment Routines",
     long_description=long_description,
     long_description_content_type="text/markdown",
-    url="https://github.com/semihgunel/PyBundleAdjustment"
-)
+    url="https://github.com/NeLy-EPFL/PyBundleAdjustment",
+    install_requires=[
+        "opencv-python-headless>=4.8.1.78", # https://github.com/NeLy-EPFL/DeepFly3D/security/dependabot/4
+        "numpy",
+        "matplotlib",
+        "scipy"
+    ],
+)