diff options
Diffstat (limited to 'src/argaze/AreaOfInterest/AOI3DScene.py')
| -rw-r--r-- | src/argaze/AreaOfInterest/AOI3DScene.py | 27 |
1 files changed, 11 insertions, 16 deletions
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py index 44b8e3c..ee07043 100644 --- a/src/argaze/AreaOfInterest/AOI3DScene.py +++ b/src/argaze/AreaOfInterest/AOI3DScene.py @@ -133,8 +133,8 @@ class AOI3DScene(AOIFeatures.AOIScene): file.write('s off\n') file.write(vertices_ids + '\n') - def clip(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]): - """Select AOI which are inside a given cone field. + def vision_cone(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]): + """Get AOI which are inside and out a given cone field. By default, the cone have the tip at origin and the base oriented to positive Z axis. **Returns:** AOI3DScene""" @@ -142,21 +142,14 @@ class AOI3DScene(AOIFeatures.AOIScene): cone_tip = numpy.array(cone_tip).astype(numpy.float32) cone_direction = numpy.array(cone_direction).astype(numpy.float32) - # retreive rotation matrix from rotation vector - R, _ = cv.Rodrigues(self.rotation) - - # store valid aoi into a new scene with same pose - aoi3D_scene_clipped = AOI3DScene() - aoi3D_scene_clipped.rotation = self.rotation - aoi3D_scene_clipped.translation = self.translation + # sort aoi + aoi3D_scene_inside = AOI3DScene() + aoi3D_scene_outside = AOI3DScene() for name, aoi3D in self.items(): - # rotate and translate back aoi to compensate the scene pose - aoi3D_comp = aoi3D.dot(R.T) + self.translation - one_vertice_out = False - for vertices in aoi3D_comp: + for vertices in aoi3D: distance = numpy.dot(vertices - cone_tip, cone_direction) radius = (distance / cone_height) * cone_radius @@ -166,11 +159,13 @@ class AOI3DScene(AOIFeatures.AOIScene): one_vertice_out = True break - # if no vertice is outside the cone, select the aoi + # if no vertice is outside the cone, aoi is inside if not one_vertice_out: - aoi3D_scene_clipped[name] = aoi3D + aoi3D_scene_inside[name] = aoi3D + else: + aoi3D_scene_outside[name] = aoi3D - return aoi3D_scene_clipped + return aoi3D_scene_inside, aoi3D_scene_outside def project(self, T=T0, R=R0, K=K0, D=D0): """Project 3D scene onto 2D scene according translation, rotation and optical parameters. |