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feat: Enhance camera module with new data structures and utility functions

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- Introduced dataclass structures for CameraParams and Camera to improve type safety and clarity.
- Added Detection dataclass to encapsulate detection data, including keypoints and timestamps.
- Implemented classify_by_camera function to organize detections by camera.
- Added utility functions for converting points to homogeneous coordinates and calculating distances to lines.
- Updated dependencies in pyproject.toml to include new libraries for enhanced functionality.
This commit is contained in:
crosstyan
2025-04-15 10:20:49 +08:00
parent 3ce5b564bf
commit 92477b18d2
7 changed files with 815 additions and 6 deletions
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118
play.ipynb
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@ -2,10 +2,116 @@
"cells": [
{
"cell_type": "code",
"execution_count": null,
"execution_count": 17,
"metadata": {},
"outputs": [],
"source": []
"source": [
"from pathlib import Path\n",
"import awkward as ak\n",
"import numpy as np\n",
"from matplotlib import pyplot as plt\n",
"import jax\n",
"import jax.numpy as jnp"
]
},
{
"cell_type": "code",
"execution_count": 18,
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
"<pre>{AE_01: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...},\n",
" AE_1A: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...},\n",
" AE_08: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...}}\n",
"--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\n",
"backend: cpu\n",
"nbytes: 5.9 MB\n",
"type: {\n",
" AE_01: {\n",
" extrinsic: {\n",
" rvec: var * float64,\n",
" tvec: var * float64\n",
" },\n",
" intrinsic: {\n",
" camera_matrix: var * var * float64,\n",
" distortion_coefficients: var * float64\n",
" },\n",
" keypoints: var * var * var * float64,\n",
" confidences: var * var * float64,\n",
" matrix: var * var * float64,\n",
" projection_matrix: var * var * float64\n",
" },\n",
" AE_1A: {\n",
" extrinsic: {\n",
" rvec: var * float64,\n",
" tvec: var * float64\n",
" },\n",
" intrinsic: {\n",
" camera_matrix: var * var * float64,\n",
" distortion_coefficients: var * float64\n",
" },\n",
" keypoints: var * var * var * float64,\n",
" confidences: var * var * float64,\n",
" matrix: var * var * float64,\n",
" projection_matrix: var * var * float64\n",
" },\n",
" AE_08: {\n",
" extrinsic: {\n",
" rvec: var * float64,\n",
" tvec: var * float64\n",
" },\n",
" intrinsic: {\n",
" camera_matrix: var * var * float64,\n",
" distortion_coefficients: var * float64\n",
" },\n",
" keypoints: var * var * var * float64,\n",
" confidences: var * var * float64,\n",
" matrix: var * var * float64,\n",
" projection_matrix: var * var * float64\n",
" }\n",
"}</pre>"
],
"text/plain": [
"<Record {AE_01: {...}, AE_1A: {...}, ...} type='{AE_01: {extrinsic: {rvec: ...'>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"DATASET_PATH = Path(\"samples/camera_dataset.parquet\")\n",
"AK_CAMERA_DATASET: ak.Array = ak.from_parquet(DATASET_PATH)[0]\n",
"display(AK_CAMERA_DATASET)"
]
},
{
"cell_type": "code",
"execution_count": 19,
"metadata": {},
"outputs": [],
"source": [
"from app.camera import Camera, CameraParams\n",
"\n",
"\n",
"def preprocess(key:str, record: ak.Record) -> Camera:\n",
" K = jnp.array(ak.to_numpy(record[\"intrinsic\"][\"camera_matrix\"])) # type: ignore\n",
" Rt = jnp.array(ak.to_numpy(record[\"matrix\"]))\n",
" dist_coeffs = jnp.array(ak.to_numpy(record[\"intrinsic\"][\"distortion_coefficients\"])) # type: ignore\n",
" size = (2560, 1440)\n",
" return Camera(id=key, params=CameraParams(K=K, Rt=Rt, dist_coeffs=dist_coeffs), size=size)"
]
},
{
"cell_type": "code",
"execution_count": 20,
"metadata": {},
"outputs": [],
"source": [
"CAMERA_DATASET = {key: preprocess(key, AK_CAMERA_DATASET[key]) for key in AK_CAMERA_DATASET.fields} # type: ignore"
]
}
],
"metadata": {
@ -15,7 +121,15 @@
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.12.9"
}
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