Merge pull request #36 from meyerls/refactor

This merge makes several structural changes. The localizer is no longer its own class, but a series of stateless functions. I've removed manual registration and created a base class for projects which other structure from motion software can extend upon for use in this module.

Author: NWalker4483

.DS_Store

@@ -2,6 +2,9 @@
 aruco_estimator/data/
 data/
 __pycache__/
+*.zip
+door/
+dumpy/
 
 # Byte-compiled / optimized / DLL files
 __pycache__/git s

.gitignore

@@ -0,0 +1,5 @@
+This doesnt use the module code and wont be maintained as part of it. By directly calling a colmap process and performing reconstruction, it breaks the contract of the module, which is to perform registration tasks on arbitrary reconstruction projects. I've left it accesible as I didnt call it out during your PR.
+
+I have placed some of my own code in here, which I developed for my project on my fork, but breaks the contract of the module.
+
+There are colmap dependencies throughout the project which I'll be isolating before the next PyPi release.

.old/currie/README.md

@@ -1,13 +1,14 @@
 import logging
 from pathlib import Path
 
+from colmap_wrapper.colmap import COLMAP
+
 # This patches pycolmap to fix a bug in colmap_wrapper
 import aruco_estimator.patch_colmap  # noqa: F401
-from aruco_estimator.localizers import ArucoLocalizer
+from aruco_estimator import ArucoLocalizer
 from aruco_estimator.tools.colmap_recon import generate_colmap
 from aruco_estimator.tools.downloader import DOOR_DATASET, Dataset
 from aruco_estimator.visualization import ArucoVisualization
-from colmap_wrapper.colmap import COLMAP
 
 DO_COLMAP_STEP = True
 

aruco_estimator/tools/colmap_recon.py renamed to .old/currie/colmap_recon.py

@@ -1,8 +1,9 @@
 import os
+
 import cv2
 import numpy as np
 
-from aruco_estimator.colmap.read_write_model import read_model
+from aruco_estimator.sfm.colmap import read_model
 
 
 def read_key_positions(filepath):

aruco_estimator/tools/downloader.py renamed to .old/currie/downloader.py

@@ -12,15 +12,58 @@
 import open3d as o3d
 from colmap_wrapper.colmap import COLMAP
 
-from aruco_estimator.localizers import ArucoLocalizer
+from aruco_estimator import ArucoLocalizer
 from aruco_estimator.utils import (
     align_point_set,
-    manual_registration,
     plot_aligned_pointset,
 )
 from aruco_estimator.visualization import ArucoVisualization
 
 
+def manual_registration(pcd_1, pcd_2):
+    """
+    Source: http://www.open3d.org/docs/latest/tutorial/Advanced/interactive_visualization.html
+
+    @param pcd_1:
+    @param pcd_2:
+    @return:
+    """
+
+    def pick_points(pcd):
+        logging.info("")
+        logging.info(
+            "1) Please pick at least three correspondences using [shift + left click]"
+        )
+        logging.info("   Press [shift + right click] to undo point picking")
+        logging.info("2) After picking points, press 'Q' to close the window")
+        viewer = o3d.visualization.VisualizerWithEditing()
+        viewer.create_window(window_name='Picker')
+        opt = viewer.get_render_option()
+        # opt.show_coordinate_frame = True
+        opt.point_size = 2.5
+        viewer.add_geometry(pcd)
+        viewer.run()  # user picks points
+        viewer.destroy_window()
+        logging.info("")
+        return viewer.get_picked_points()
+
+    def draw_registration_result(source, target, transformation):
+        source_temp = copy.deepcopy(source)
+        target_temp = copy.deepcopy(target)
+        source_temp.paint_uniform_color([1, 0.706, 0])
+        target_temp.paint_uniform_color([0, 0.651, 0.929])
+        source_temp.transform(transformation)
+        o3d.visualization.draw_geometries([source_temp, target_temp])
+
+    # pick points from two point clouds and builds correspondences
+    picked_id_source = pick_points(pcd_1)
+    picked_id_target = pick_points(pcd_2)
+
+    picked_points_1 = pcd_1.select_by_index(picked_id_source)
+    picked_points_2 = pcd_1.select_by_index(picked_id_target)
+
+    return np.asarray(picked_points_1.points), np.asarray(picked_points_2.points)
+
 class ArucoRegistration(object):
     def __init__(self, project_path_a: str, project_path_b: str, dense_pc: str = 'fused.ply'):
         # Name of both subprojects

example.py renamed to .old/currie/example.py

@@ -6,7 +6,6 @@
 See LICENSE file for more information.
 """
 
-import logging
 
 import numpy as np
 import open3d as o3d
@@ -16,8 +15,56 @@
     generate_line_set,
 )
 
-from ..localizers import ArucoLocalizer
-from .visualization import ray_cast_aruco_corners_visualization
+from . import ArucoLocalizer
+
+"""
+Copyright (c) 2022 Lukas Meyer
+Licensed under the MIT License.
+See LICENSE file for more information.
+"""
+
+# Built-in/Generic Imports
+
+# Libs
+
+
+def ray_cast_aruco_corners_visualization(p_i: np.ndarray, n_i: np.ndarray, corners3d: np.ndarray) \
+        -> o3d.pybind.geometry.LineSet:
+    '''
+
+    @param p_i:
+    @param n_i:
+    @param corners3d:
+    @return:
+    '''
+
+    p1_0, p1_1, p1_2, p1_3 = corners3d[0], corners3d[1], corners3d[2], corners3d[3]
+    t_0 = np.linalg.norm((p1_0 - p_i))
+    t_1 = np.linalg.norm((p1_1 - p_i))
+    t_2 = np.linalg.norm((p1_2 - p_i))
+    t_3 = np.linalg.norm((p1_3 - p_i))
+
+    points_camera_plane = [
+        p_i,
+        p_i + n_i[0] * t_0,  # p1_0,
+        p_i + n_i[1] * t_1,  # p1_1,
+        p_i + n_i[2] * t_2,  # p1_2,
+        p_i + n_i[3] * t_3,  # p1_3,
+    ]
+
+    lines = [
+        [0, 1],
+        [0, 2],
+        [0, 3],
+        [0, 4],
+    ]
+    aruco_line_set = generate_line_set(points=points_camera_plane,
+                                       lines=lines,
+                                       color=[1, 0, 0])
+
+    return aruco_line_set
+
+
 
 
 class ScaleFactorExtimatorVisualization():