x

app/camera/__init__.py

@@ -1,6 +1,7 @@
 from collections import OrderedDict, defaultdict
 from dataclasses import dataclass
 from datetime import datetime
+import string
 from typing import Any, TypeAlias, TypedDict, Optional, Sequence
 
 from beartype import beartype
@@ -522,10 +523,14 @@ def to_homogeneous(points: Num[Array, "N 2"] | Num[Array, "N 3"]) -> Num[Array,
         raise ValueError(f"Invalid shape for points: {points.shape}")
 
 
+import awkward as ak
+
+
 @jaxtyped(typechecker=beartype)
 def point_line_distance(
     points: Num[Array, "N 3"] | Num[Array, "N 2"],
     line: Num[Array, "N 3"],
+    description: str,
     eps: float = 1e-9,
 ):
     """
@@ -544,6 +549,12 @@ def point_line_distance(
     """
     numerator = abs(line[:, 0] * points[:, 0] + line[:, 1] * points[:, 1] + line[:, 2])
     denominator = jnp.sqrt(line[:, 0] * line[:, 0] + line[:, 1] * line[:, 1])
+    # line_data = {"a": line[:, 0], "b": line[:, 1], "c": line[:, 2]}
+    # line_x_y = {"x": points[:, 0], "y": points[:, 1]}
+    # ak.to_parquet(
+    #     line_data, f"/home/admin/Code/CVTH3PE/line_a_b_c_{description}.parquet"
+    # )
+    # ak.to_parquet(line_x_y, f"/home/admin/Code/CVTH3PE/line_x_y_{description}.parquet")
     return numerator / (denominator + eps)
 
 
@@ -571,7 +582,7 @@ def left_to_right_epipolar_distance(
     """
     F_t = fundamental_matrix.transpose()
     line1_in_2 = jnp.matmul(left, F_t)
-    return point_line_distance(right, line1_in_2)
+    return point_line_distance(right, line1_in_2, "left_to_right")
 
 
 @jaxtyped(typechecker=beartype)
@@ -597,7 +608,7 @@ def right_to_left_epipolar_distance(
         $$x^{\\prime T}Fx = 0$$
     """
     line2_in_1 = jnp.matmul(right, fundamental_matrix)
-    return point_line_distance(left, line2_in_1)
+    return point_line_distance(left, line2_in_1, "right_to_left")
 
 
 def distance_between_epipolar_lines(