updated code for camera viz

README.md

@@ -76,25 +76,50 @@ import numpy as np
 import pandas as pd
 from PIL import Image
 
-# load example data
+def draw_camera_frustum(ax, position, orientation, frustum_length, frustum_width, color='blue', alpha=0.3):
+    # Camera axes
+    forward = orientation[:, 2]  # Z-axis
+    right = orientation[:, 0]    # X-axis
+
+    # Near and far plane distances
+    near_len, far_len = frustum_length * 0.2, frustum_length
+    near_width, far_width = frustum_width * 0.2, frustum_width
+
+    # Corner points of the frustum
+    p = position
+    points = np.array([
+        p + forward * near_len - right * near_width / 2,  # near left
+        p + forward * near_len + right * near_width / 2,  # near right
+        p + forward * far_len  + right * far_width / 2,   # far right
+        p + forward * far_len  - right * far_width / 2    # far left
+    ])
+
+    x, z = points[:, 0], points[:, 2]
+    ax.fill(x, z, color=color, alpha=alpha)
+    ax.plot(np.append(x, x[0]), np.append(z, z[0]), color=color)
+
+# Load image pair
 image_pairs_path = "image_pairs/train/image_pairs.csv"
 image_pairs = pd.read_csv(image_pairs_path)
 uid, scene_name, plan_path, photo_path = image_pairs.iloc[0]
 
+# Load correspondences
 geometric_train_dir = "geometric/train/"
 corr_path = join(geometric_train_dir, "correspondences", f"{int(uid) // 1000}", f"{int(uid):06d}.npy")
 plan_corr, photo_corr = np.load(corr_path)
+
+# Load camera pose
 camera_pose_path = join(geometric_train_dir, "camera_poses", f"{int(uid) // 1000}", f"{int(uid):06d}.npy")
-camera_orientation, camera_position, camera_intrinsics = np.load(camera_pose_path, allow_pickle=True)
+camera_orientation, camera_position, _ = np.load(camera_pose_path, allow_pickle=True)
 camera_orientation = np.array(camera_orientation.tolist(), dtype=float)
-Z = camera_orientation[:, 2]
 camera_position = np.array(camera_position)
 
+# Load floor plan and photo
 visual_dir = "visual/"
 plan = Image.open(join(visual_dir, scene_name, plan_path))
 photo = Image.open(join(visual_dir, scene_name, photo_path))
 
-# visualize correspondences and camera pose
+# Visualize
 fig, axes = plt.subplots(1, 2, figsize=(12, 6))
 fig.suptitle(f"Scene name: {scene_name}", fontsize=16)
 
@@ -102,7 +127,7 @@ axes[0].imshow(plan)
 axes[0].set_title("Floor Plan")
 axes[0].scatter(plan_corr[:, 0], plan_corr[:, 1], c="r", s=1)
 scale = max(plan.size) * 0.05
-axes[0].arrow(camera_position[0], camera_position[2], Z[0] * scale, Z[2] * scale, color='b', head_width=scale, head_length=scale)
+draw_camera_frustum(axes[0], camera_position, camera_orientation, frustum_length=scale, frustum_width=scale, color='blue', alpha=0.3)
 axes[0].axis('off')
 
 axes[1].imshow(photo)