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PnP works, kinda

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crosstyan
2024-12-18 18:04:50 +08:00
parent a207c90cb9
commit 2559055689
4 changed files with 182 additions and 18 deletions
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102
boom.ipynb
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@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"execution_count": 38,
"metadata": {},
"outputs": [],
"source": [
@ -118,7 +118,7 @@
},
{
"cell_type": "code",
"execution_count": 2,
"execution_count": 39,
"metadata": {},
"outputs": [
{
@ -155,7 +155,7 @@
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": 40,
"metadata": {},
"outputs": [],
"source": [
@ -284,7 +284,7 @@
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": 41,
"metadata": {},
"outputs": [],
"source": [
@ -314,7 +314,7 @@
},
{
"cell_type": "code",
"execution_count": 15,
"execution_count": 42,
"metadata": {},
"outputs": [
{
@ -1722,7 +1722,7 @@
},
{
"cell_type": "code",
"execution_count": 16,
"execution_count": 43,
"metadata": {},
"outputs": [
{
@ -1772,6 +1772,96 @@
"display(coords)\n",
"_ = ak.to_parquet(coords, \"output/object_points.parquet\")"
]
},
{
"cell_type": "code",
"execution_count": 44,
"metadata": {},
"outputs": [],
"source": [
"from typing import cast\n",
"total_ids = cast(NDArray, ak.to_numpy(coords[\"ids\"])).flatten()\n",
"total_corners = cast(NDArray, ak.to_numpy(coords[\"corners\"])).reshape(-1, 4, 3)\n",
"#display(total_ids, total_corners)"
]
},
{
"cell_type": "code",
"execution_count": 45,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
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" 17: array([[0.025, 0.152, 0. ],\n",
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" 18: array([[0.27900001, 0.152 , 0. ],\n",
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" 20: array([[1.51999995e-01, 1.70838222e-17, 3.86000000e-01],\n",
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" [1.51999995e-01, 1.11442852e-17, 2.88999999e-01]]),\n",
" 21: array([[ 2.50000004e-02, -6.24569833e-18, 2.59000005e-01],\n",
" [ 1.22000001e-01, 5.63337574e-18, 2.59000005e-01],\n",
" [ 1.22000001e-01, -3.06161408e-19, 1.62000002e-01],\n",
" [ 2.50000004e-02, -1.21852355e-17, 1.62000002e-01]]),\n",
" 22: array([[2.79000014e-01, 2.48603320e-17, 2.59000005e-01],\n",
" [3.75999987e-01, 3.67394027e-17, 2.59000005e-01],\n",
" [3.75999987e-01, 3.07998655e-17, 1.62000002e-01],\n",
" [2.79000014e-01, 1.89207949e-17, 1.62000002e-01]]),\n",
" 23: array([[ 1.51999995e-01, 1.53080704e-18, 1.31999986e-01],\n",
" [ 2.48999998e-01, 1.34098813e-17, 1.31999986e-01],\n",
" [ 2.48999998e-01, 7.47034601e-18, 3.50000129e-02],\n",
" [ 1.51999995e-01, -4.40872829e-18, 3.50000129e-02]]),\n",
" 24: array([[1.53080852e-18, 2.49000005e-01, 3.86000000e-01],\n",
" [1.53080852e-18, 1.52000002e-01, 3.86000000e-01],\n",
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" [7.47034556e-18, 2.49000005e-01, 2.88999999e-01]]),\n",
" 25: array([[9.30731537e-18, 3.76000000e-01, 2.59000005e-01],\n",
" [9.30731537e-18, 2.78999999e-01, 2.59000005e-01],\n",
" [1.52468525e-17, 2.78999999e-01, 1.62000002e-01],\n",
" [1.52468525e-17, 3.76000000e-01, 1.62000002e-01]]),\n",
" 26: array([[9.30731537e-18, 1.21999986e-01, 2.59000005e-01],\n",
" [9.30731537e-18, 2.50000129e-02, 2.59000005e-01],\n",
" [1.52468525e-17, 2.50000129e-02, 1.62000002e-01],\n",
" [1.52468525e-17, 1.21999986e-01, 1.62000002e-01]]),\n",
" 27: array([[1.70838237e-17, 2.49000005e-01, 1.31999986e-01],\n",
" [1.70838237e-17, 1.52000002e-01, 1.31999986e-01],\n",
" [2.30233590e-17, 1.52000002e-01, 3.50000129e-02],\n",
" [2.30233590e-17, 2.49000005e-01, 3.50000129e-02]])}"
]
},
"execution_count": 45,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"dict(zip(total_ids, total_corners))"
]
},
{
"cell_type": "code",
"execution_count": 46,
"metadata": {},
"outputs": [],
"source": [
"total_ids = np.concatenate([plane_a.ids, plane_b.ids, plane_c.ids])\n",
"total_corners = np.concatenate([t_corners_a, t_corners_b, t_corners_c])\n",
"id_corner_map: dict[int, NDArray] = dict(zip(total_ids, total_corners))"
]
}
],
"metadata": {