wehub-resource-sync
92 lines
3.2 KiB
Python
Executable File
92 lines
3.2 KiB
Python
Executable File
#!/usr/bin/env python3
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"""A test series for view coordinates."""
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from __future__ import annotations
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import argparse
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import numpy as np
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import numpy.typing as npt
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import rerun as rr # pip install rerun-sdk
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parser = argparse.ArgumentParser(description="Logs rich data using the Rerun SDK.")
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rr.script_add_args(parser)
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args = parser.parse_args()
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rr.script_setup(args, "rerun_example_view_coordinates")
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# Log sphere of colored points to make it easier to orient ourselves.
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# See https://math.stackexchange.com/a/1586185
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num_points = 5000
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radius = 8
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lamd = np.arccos(2 * np.random.rand(num_points) - 1) - np.pi / 2
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phi = np.random.rand(num_points) * 2 * np.pi
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x = np.cos(lamd) * np.cos(phi)
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y = np.cos(lamd) * np.sin(phi)
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z = np.sin(lamd)
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unit_sphere_positions = np.transpose([x, y, z])
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rr.log("world/points", rr.Points3D(unit_sphere_positions * radius, colors=np.abs(unit_sphere_positions), radii=0.01))
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# RGB image that indicates orientation:
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rgb = np.zeros((50, 100, 3))
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rgb[0:3, 0:3] = [255, 255, 255]
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rgb[3:25, 0:3] = [0, 255, 0]
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rgb[0:3, 3:25] = [255, 0, 0]
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# Depth image for testing depth cloud:
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# depth = np.ones((50, 100)) * 0.5
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x, y = np.meshgrid(np.arange(0, 100), np.arange(0, 50))
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depth = 0.5 + 0.005 * x + 0.25 * np.sin(3.14 * y / 50 / 2)
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rr.log("world", rr.ViewCoordinates.RIGHT_HAND_Z_UP)
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def log_camera(origin: npt.ArrayLike, label: str, xyz: rr.components.ViewCoordinates, forward: npt.ArrayLike) -> None:
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[height, width, _channels] = rgb.shape
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f_len = (height * width) ** 0.5
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cam_path = f"world/{label}"
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pinhole_path = f"{cam_path}/{label}"
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rr.log(f"{cam_path}/indicator", rr.Points3D([0, 0, 0], colors=[255, 255, 255], labels=label))
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rr.log(cam_path, rr.Transform3D(translation=origin))
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rr.log(cam_path + "/arrow", rr.Arrows3D(origins=[0, 0, 0], vectors=forward, colors=[255, 255, 255], radii=0.025))
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rr.log(
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pinhole_path,
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rr.Pinhole(
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width=width,
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height=height,
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focal_length=f_len,
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principal_point=[width * 3 / 4, height * 3 / 4], # test offset principal point
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camera_xyz=xyz,
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),
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)
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rr.log(f"{pinhole_path}/rgb", rr.Image(rgb))
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rr.log(f"{pinhole_path}/depth", rr.DepthImage(depth, meter=1.0))
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# Log a series of pinhole cameras only differing by their view coordinates and some offset.
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# Not all possible, but a fair sampling.
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s = 3 # spacing
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log_camera([0, 0, s], "RUB", rr.ViewCoordinates.RUB, forward=[0, 0, -1])
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# All right-handed permutations of RDF:
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log_camera([s, -s, 0], "RDF", rr.ViewCoordinates.RDF, forward=[0, 0, 1])
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log_camera([s, 0, 0], "FRD", rr.ViewCoordinates.FRD, forward=[1, 0, 0])
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log_camera([s, s, 0], "DFR", rr.ViewCoordinates.DFR, forward=[0, 1, 0])
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# All right-handed permutations of LUB:
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log_camera([0, -s, 0], "ULB", rr.ViewCoordinates.ULB, forward=[0, 0, -1])
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log_camera([0, 0, 0], "LBU", rr.ViewCoordinates.LBU, forward=[0, -1, 0])
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log_camera([0, s, 0], "BUL", rr.ViewCoordinates.BUL, forward=[-1, 0, 0])
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# All permutations of LUF:
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log_camera([-s, -s, 0], "LUF", rr.ViewCoordinates.LUF, forward=[0, 0, 1])
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log_camera([-s, 0, 0], "FLU", rr.ViewCoordinates.FLU, forward=[1, 0, 0])
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log_camera([-s, s, 0], "UFL", rr.ViewCoordinates.UFL, forward=[0, 1, 0])
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rr.script_teardown(args)
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