Fix visualize utils and add scaled obj output function for 3d lines v…

…isualization (cvg#35) * Fix visualize utils * Add output option for visualizing 3d lines with scaling * change output logic, add help description * minor. Co-authored-by: B1ueber2y <[email protected]>
zhangshaos · Dec 9, 2022 · 745ef00 · 745ef00
1 parent 90cc7a4
commit 745ef00
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diff --git a/limap/visualize/vis_utils.py b/limap/visualize/vis_utils.py
@@ -4,7 +4,7 @@
 import matplotlib
 import matplotlib.pyplot as plt
 import seaborn as sns
-
+import copy
 
 def random_color():
     r = int(255 * np.random.rand())
@@ -14,6 +14,7 @@ def random_color():
 
 
 def draw_points(image, points, color=None, thickness=1):
+    image = copy.deepcopy(image)
     for p in points:
         c = random_color() if color is None else color
         pos_x, pos_y = int(round(p[0])), int(round(p[1]))
@@ -22,6 +23,7 @@ def draw_points(image, points, color=None, thickness=1):
 
 
 def draw_segments(image, segments, color=None, thickness=1, endpoints=True):
+    image = copy.deepcopy(image)
     for s in segments:
         c = random_color() if color is None else color
         p1 = (int(s[0]), int(s[1]))
@@ -36,6 +38,7 @@ def draw_segments(image, segments, color=None, thickness=1, endpoints=True):
 def draw_salient_segments(image, segments, saliency, color1=(0, 255, 0), color2=(0, 0, 255), thickness=1,
                           endpoints=True):
     assert len(segments) == len(saliency)
+    image = copy.deepcopy(image)
     max_saliency, min_saliency = np.max(saliency), np.min(saliency)
     for s, s_saliency in zip(segments, saliency):
         r = (s_saliency - min_saliency) / (max_saliency - min_saliency)
@@ -52,6 +55,7 @@ def draw_salient_segments(image, segments, saliency, color1=(0, 255, 0), color2=
 
 
 def draw_multiscale_segments(img, segs, color=None, endpoints=True, thickness=2):
+    img = copy.deepcopy(img)
     for s in segs:
         mycolor = random_color() if color is None else color
         octave, l = s[0]

diff --git a/visualize_3d_lines.py b/visualize_3d_lines.py
@@ -16,6 +16,7 @@ def parse_args():
     arg_parser.add_argument('--use_robust_ranges', action='store_true', help="whether to use computed robust ranges")
     arg_parser.add_argument('--scale', type=float, default=1.0, help="scaling both the lines and the camera geometry")
     arg_parser.add_argument('--cam_scale', type=float, default=1.0, help="scale of the camera geometry")
+    arg_parser.add_argument('--output_dir', type=str, default=None, help="if set, save the scaled lines in obj format")
     args = arg_parser.parse_args()
     return args
 
@@ -51,6 +52,8 @@ def main(args):
             raise ValueError("Error! Input file {0} is not valid".format(args.imagecols))
         imagecols = _base.ImageCollection(limapio.read_npy(args.imagecols).item())
         vis_reconstruction(linetracks, imagecols, mode=args.mode, n_visible_views=args.n_visible_views, ranges=ranges, scale=args.scale, cam_scale=args.cam_scale)
+    if args.output_dir is not None:
+        limapio.save_obj(args.output_dir, lines)
 
 if __name__ == '__main__':
     args = parse_args()