forked from HQU-gxy/CVTH3PE
crosstyan
92477b18d2
- 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.
139 lines
5.5 KiB
Plaintext
139 lines
5.5 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 17,
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"metadata": {},
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"outputs": [],
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"source": [
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"from pathlib import Path\n",
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"import awkward as ak\n",
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"import numpy as np\n",
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"from matplotlib import pyplot as plt\n",
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"import jax\n",
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"import jax.numpy as jnp"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 18,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/html": [
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"<pre>{AE_01: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...},\n",
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" AE_1A: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...},\n",
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" AE_08: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...}}\n",
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"--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\n",
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"backend: cpu\n",
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"nbytes: 5.9 MB\n",
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"type: {\n",
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" AE_01: {\n",
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" extrinsic: {\n",
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" rvec: var * float64,\n",
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" tvec: var * float64\n",
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" },\n",
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" intrinsic: {\n",
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" camera_matrix: var * var * float64,\n",
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" distortion_coefficients: var * float64\n",
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" },\n",
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" keypoints: var * var * var * float64,\n",
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" confidences: var * var * float64,\n",
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" matrix: var * var * float64,\n",
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" projection_matrix: var * var * float64\n",
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" },\n",
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" AE_1A: {\n",
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" extrinsic: {\n",
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" rvec: var * float64,\n",
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" tvec: var * float64\n",
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" },\n",
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" intrinsic: {\n",
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" camera_matrix: var * var * float64,\n",
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" distortion_coefficients: var * float64\n",
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" },\n",
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" keypoints: var * var * var * float64,\n",
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" confidences: var * var * float64,\n",
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" matrix: var * var * float64,\n",
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" projection_matrix: var * var * float64\n",
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" },\n",
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" AE_08: {\n",
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" extrinsic: {\n",
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" rvec: var * float64,\n",
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" tvec: var * float64\n",
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" },\n",
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" intrinsic: {\n",
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" camera_matrix: var * var * float64,\n",
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" distortion_coefficients: var * float64\n",
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" },\n",
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" keypoints: var * var * var * float64,\n",
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" confidences: var * var * float64,\n",
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" matrix: var * var * float64,\n",
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" projection_matrix: var * var * float64\n",
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" }\n",
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"}</pre>"
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],
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"text/plain": [
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"<Record {AE_01: {...}, AE_1A: {...}, ...} type='{AE_01: {extrinsic: {rvec: ...'>"
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]
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},
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"metadata": {},
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"output_type": "display_data"
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}
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],
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"source": [
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"DATASET_PATH = Path(\"samples/camera_dataset.parquet\")\n",
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"AK_CAMERA_DATASET: ak.Array = ak.from_parquet(DATASET_PATH)[0]\n",
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"display(AK_CAMERA_DATASET)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 19,
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"metadata": {},
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"outputs": [],
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"source": [
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"from app.camera import Camera, CameraParams\n",
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"\n",
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"\n",
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"def preprocess(key:str, record: ak.Record) -> Camera:\n",
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" K = jnp.array(ak.to_numpy(record[\"intrinsic\"][\"camera_matrix\"])) # type: ignore\n",
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" Rt = jnp.array(ak.to_numpy(record[\"matrix\"]))\n",
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" dist_coeffs = jnp.array(ak.to_numpy(record[\"intrinsic\"][\"distortion_coefficients\"])) # type: ignore\n",
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" size = (2560, 1440)\n",
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" return Camera(id=key, params=CameraParams(K=K, Rt=Rt, dist_coeffs=dist_coeffs), size=size)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 20,
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"metadata": {},
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"outputs": [],
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"source": [
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"CAMERA_DATASET = {key: preprocess(key, AK_CAMERA_DATASET[key]) for key in AK_CAMERA_DATASET.fields} # type: ignore"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": ".venv",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.9"
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