Add draw_uv.ipynb for UV layout generation, including image processing and canvas creation. Updated find_cute_box_with_image.ipynb with new functions for 3D coordinate extraction and improved type annotations.

find_cute_box_with_image.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 33,
+   "execution_count": 77,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -29,7 +29,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 34,
+   "execution_count": 78,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -42,7 +42,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 35,
+   "execution_count": 79,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -54,7 +54,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 36,
+   "execution_count": 80,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -66,7 +66,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 37,
+   "execution_count": 81,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -88,7 +88,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 38,
+   "execution_count": 82,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -121,7 +121,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 83,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -192,7 +192,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 43,
+   "execution_count": 86,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -286,7 +286,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 46,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -295,9 +295,98 @@
     "    uv_points = marker.corners\n",
     "    return interpolate_uvs_to_3d_trimesh(uv_points, mesh)\n",
     "\n",
-    "results = [marker_to_3d_coords(marker, m) for marker in output_markers]\n",
+    "id_to_3d_coords = {marker.id: marker_to_3d_coords(marker, m) for marker in output_markers}\n",
-    "id_to_3d_coords = {marker.id: result for marker, result in zip(output_markers, results)}\n",
+    "# note that the glb is Y up\n",
-    "# note that the glb is Y up (but in blender it's Z up)"
+    "# when visualizing with matplotlib, it's Z up\n",
+    "# GLTF → Blender:     (X, Y, Z) → (X, -Z, Y)\n",
+    "OPEN_GL_TO_BLENDER = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])\n",
+    "# Blender → GLTF:     (X, Y, Z) → (X, Z, -Y)\n",
+    "BLENDER_TO_OPEN_GL = np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]])\n",
+    "display(np.linalg.inv(OPEN_GL_TO_BLENDER)) # should be the same"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 93,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# matplotlib default colors scheme\n",
+    "colors: list[str] = plt.rcParams[\"axes.prop_cycle\"].by_key()[\"color\"]\n",
+    "\n",
+    "def hex_to_rgb(hex_color: str) -> tuple[float, float, float]:\n",
+    "    assert hex_color.startswith(\"#\")\n",
+    "    assert len(hex_color) == 7\n",
+    "    return tuple(int(hex_color[i:i+2], 16) / 255.0 for i in (1, 3, 5)) # type: ignore"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from functools import lru_cache\n",
+    "\n",
+    "@dataclass\n",
+    "class Face:\n",
+    "    color: tuple[float, float, float]\n",
+    "    marker_ids: list[int]\n",
+    "\n",
+    "\n",
+    "# fmt: off\n",
+    "layout:list[list[Optional[int]]] = [\n",
+    "    [None, None, 0, None, None],\n",
+    "    [None, None, 1, None, None],\n",
+    "    [None,    5, 2,    4, None],\n",
+    "    [None, None, 3, None, None],\n",
+    "]\n",
+    "# fmt: on\n",
+    "\n",
+    "faces = {\n",
+    "    \"bottom\": Face(color=hex_to_rgb(colors[0]), marker_ids=[0, 1, 2, 3]),\n",
+    "    \"back\": Face(color=hex_to_rgb(colors[1]), marker_ids=[4, 5, 6, 7]),\n",
+    "    \"top\": Face(color=hex_to_rgb(colors[2]), marker_ids=[8, 9, 10, 11]),\n",
+    "    \"front\": Face(color=hex_to_rgb(colors[3]), marker_ids=[12, 13, 14, 15]),\n",
+    "    \"right\": Face(color=hex_to_rgb(colors[4]), marker_ids=[16, 17, 18, 19]),\n",
+    "    \"left\": Face(color=hex_to_rgb(colors[5]), marker_ids=[20, 21, 22, 23]),\n",
+    "}\n",
+    "\n",
+    "@lru_cache\n",
+    "def get_face_by_marker_id(marker_id: int) -> Optional[Face]:\n",
+    "    for face in faces.values():\n",
+    "        if marker_id in face.marker_ids:\n",
+    "            return face\n",
+    "    return None\n",
+    "\n",
+    "\n",
+    "# 3D Visualization (with flipped and fully valid data)\n",
+    "fig = plt.figure(figsize=(8, 8))\n",
+    "ax = fig.add_subplot(111, projection=\"3d\")\n",
+    "\n",
+    "for tag_id, corners in id_to_3d_coords.items():\n",
+    "    corners = np.array(corners)\n",
+    "    face = get_face_by_marker_id(tag_id)\n",
+    "    assert face is not None\n",
+    "    color = face.color\n",
+    "    for i in range(4):\n",
+    "        p1 = corners[i]\n",
+    "        p2 = corners[(i + 1) % 4]\n",
+    "        ax.plot(*zip(p1, p2), color=color)\n",
+    "    center = corners.mean(axis=0)\n",
+    "    ax.scatter(*center, color=color)\n",
+    "    ax.text(*center, str(tag_id), fontsize=9, color=\"black\") # type: ignore\n",
+    "\n",
+    "ax.set_box_aspect([1, 1, 1]) # type: ignore\n",
+    "ax.set_title(\"ArUco Corners in 3D\")\n",
+    "ax.set_xlabel(\"X\")\n",
+    "ax.set_ylabel(\"Y\")\n",
+    "ax.set_zlabel(\"Z\") # type: ignore\n",
+    "\n",
+    "# Set the viewing angle\n",
+    "# ax.view_init(elev=60, azim=35) # type: ignore\n",
+    "\n",
+    "plt.show()"
    ]
   }
  ],