draw traj more eye-catching

chaojie · Jan 5, 2024 · 9956c04 · 9956c04
1 parent 870eb6c
commit 9956c04
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/gradio_utils/utils.py b/gradio_utils/utils.py
@@ -20,7 +20,7 @@ def vis_camera(RT_list, rescale_T=1, index=0):
     for i, RT in enumerate(RT_list):
         R = RT[:,:3]
         T = RT[:,-1]/rescale_T
-        cone = calc_cam_cone_pts_3d(R, T, fov_deg)
+        cone = calc_cam_cone_pts_3d(R, T, fov_deg,scale=1)
         if index==i:
             cone_list.append((cone, (0, "yellow"), f"view_{i}"))
         else:
@@ -32,6 +32,7 @@ def vis_camera(RT_list, rescale_T=1, index=0):
             (x1, x2) = (cone[edge[0], 0], cone[edge[1], 0])
             (y1, y2) = (cone[edge[0], 1], cone[edge[1], 1])
             (z1, z2) = (cone[edge[0], 2], cone[edge[1], 2])
+            #print(f'{[x1,x2,y1,y2,z1,z2]}')
             fig.add_trace(go.Scatter3d(
                 x=[x1, x2], y=[y1, y2], z=[z1, z2], mode='lines',
                 line=dict(color=clr, width=3),

diff --git a/nodes.py b/nodes.py
@@ -94,14 +94,18 @@ def save_results(video, fps=10,traj="[]",draw_traj_dot=False,cameras=[],draw_cam
         #draw.ellipse((0,0,255,255),fill=(255,0,0), outline=(255,0,0))
         if draw_traj_dot:
             traj_list=json.loads(traj)
-            traj_point=traj_list[len(traj_list)-1]
-            if len(traj_list)>i:
-                traj_point=traj_list[i]
 
             #print(traj_point)
             size=3
-            draw.ellipse((traj_point[0]/4-size,traj_point[1]/4-size,traj_point[0]/4+size,traj_point[1]/4+size),fill=(255,0,0), outline=(255,0,0))
-
+            for j in range(grid.shape[0]):
+                traj_point=traj_list[len(traj_list)-1]
+                if len(traj_list)>j:
+                    traj_point=traj_list[j]
+                if i==j:
+                    draw.ellipse((traj_point[0]/4-size,traj_point[1]/4-size,traj_point[0]/4+size,traj_point[1]/4+size),fill=(255,0,0), outline=(255,0,0))
+                else:
+                    draw.ellipse((traj_point[0]/4-size,traj_point[1]/4-size,traj_point[0]/4+size,traj_point[1]/4+size),fill=(255,255,255), outline=(255,255,255))
+
         if draw_traj_dot:
             fig = vis_camera(cameras,1,i)
             camimg=Image.open(BytesIO(fig.to_image('png',256,256)))