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Merge pull request #38 from peterkovesi/remove_pyplot
Remove pyplot strong dependency
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,196 @@ | ||
| module ImageProjectiveGeometryPyPlotExt | ||
| using LinearAlgebra | ||
| using Random | ||
| using PyPlot | ||
| using ImageProjectiveGeometry | ||
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| include("ransacdemo.jl") | ||
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| function plot_briefcoords(S, nPairs, rc) | ||
| figure(200); clf | ||
| R = (S.-1)/2 .+ 1 | ||
| axis([-R, R, -R, R]) | ||
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| for n = 1:nPairs | ||
| plot(rc[2, 2*n-1:2*n], rc[1, 2*n-1:2*n], color = rand(3), | ||
| linewidth = 3) | ||
| end | ||
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| axis("equal") | ||
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| # Determine distances between pairs and display histogram | ||
| sdist = zeros(nPairs) | ||
| for n = 1:nPairs | ||
| sdist[n] = norm(rc[:,2*n-1] - rc[:,2*n]) | ||
| end | ||
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| (e, counts) = hist(sdist, 0:.5:S) | ||
| e = e .+ 0.5 | ||
| figure(30); clf() | ||
| PyPlot.bar(x=e, height = counts[2:end], width=e[2]-e[1]) | ||
| title("Histogram of distances between pairs") | ||
| end | ||
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| function plot_nonmaxsuppts(fig, img, c, r, cols, rows) | ||
| # If an image has been supplied display it and overlay corners. | ||
| if !isempty(img) | ||
| print("Plotting corners") | ||
| PyPlot.figure(fig) | ||
| PyPlot.clf() | ||
| PyPlot.imshow(img) | ||
| PyPlot.set_cmap(PyPlot.ColorMap("gray")) | ||
| PyPlot.plot(c,r,"r+") | ||
| PyPlot.axis([1,cols,rows,1]) | ||
| PyPlot.title("Corners detected") | ||
| end | ||
| end | ||
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| """ | ||
| hline - Plot a 2D line defined in homogeneous coordinates. | ||
| Function for ploting 2D homogeneous lines defined by 2 points | ||
| or a line defined by a single homogeneous vector | ||
| ``` | ||
| Usage 1: hline(p1,p2, linestyle="b-") | ||
| Arguments: p1, p2 - Two 3-vectors defining points in homogeneous | ||
| coordinates | ||
| Usage 2: hline(l, linestyle="b-") | ||
| Argument: l - A 3-vector defining a line in homogeneous coordinates | ||
| ``` | ||
| Note that in the case where a homogeneous line is supplied as the | ||
| argument the extent of the line drawn depends on the current axis | ||
| limits. This will require you to set the desired limits with a call | ||
| to PyPlot.axis() prior to calling this function. | ||
| """ | ||
| function hline(p1i::Vector, p2i::Vector, linestyle::String="b-") | ||
| # Case when 2 homogeneous points are supplied | ||
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| p1 = p1i./p1i[3] # make sure homogeneous points lie in z=1 plane | ||
| p2 = p2i./p2i[3] | ||
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| # hold(true) | ||
| plot([p1[1], p2[1]], [p1[2], p2[2]], linestyle); | ||
| end | ||
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| # Case when homogeneous line is supplied | ||
| function hline(li::Vector, linestyle::String="b-") | ||
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| l = li./li[3] # ensure line in z = 1 plane (not needed?) | ||
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| if abs(l[1]) > abs(l[2]) # line is more vertical | ||
| p1 = hcross(l, [0, -1, PyPlot.ylim()[1]]) | ||
| p2 = hcross(l, [0, -1, PyPlot.ylim()[2]]) | ||
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| else # line more horizontal | ||
| p1 = hcross(l, [-1, 0, PyPlot.xlim()[1]]) | ||
| p2 = hcross(l, [-1, 0, PyPlot.xlim()[2]]) | ||
| end | ||
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| # hold(true) | ||
| plot([p1[1], p2[1]], [p1[2], p2[2]], linestyle); | ||
| end | ||
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| """ | ||
| plotcamera - Plots graphical representation of camera(s) showing pose. | ||
| ``` | ||
| Usage: plotcamera(C, l; col=[0,0,1], plotCamPath=false, fig=nothing) | ||
| Arguments: | ||
| C - Camera structure (or array of Camera structures) | ||
| l - The length of the sides of the rectangular cone indicating | ||
| the camera's field of view. | ||
| Keyword Arguments: | ||
| col - Optional three element vector specifying the RGB colour to | ||
| use. Defaults to blue. | ||
| plotCamPath - Optional flag true/false to plot line joining camera centre | ||
| positions. If omitted or empty defaults to false. | ||
| fig - Optional figure number to be used. If not specified a new | ||
| figure is created. | ||
| ``` | ||
| The function plots into the current figure a graphical representation of one | ||
| or more cameras showing their pose. This consists of a rectangular cone, | ||
| with its vertex at the camera centre, indicating the camera's field of view. | ||
| The camera's coordinate X and Y axes are also plotted at the camera centre. | ||
| See also: Camera | ||
| """ | ||
| function plotcamera(Ci, l, col=[0,0,1], plotCamPath=false, fig=nothing) | ||
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| if isa(Ci, Array) | ||
| C = Ci | ||
| else | ||
| C = [Ci] | ||
| end | ||
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| figure(fig) | ||
| for i = 1:eachindex(C) | ||
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| if C[i].rows == 0 || C[i].cols == 0 | ||
| @warn("Camera rows and cols not specified") | ||
| continue | ||
| end | ||
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| f = C[i].fx # Use fx as the focal length | ||
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| if i > 1 && plotCamPath | ||
| plot3D([C[i-1].P[1], C[i].P[1]], | ||
| [C[i-1].P(2), C[i].P[2]], | ||
| [C[i-1].P(3), C[i].P[3]]) | ||
| end | ||
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| # Construct transform from camera coordinates to world coords | ||
| Tw_c = [C[i].Rc_w' C[i].P | ||
| 0 0 0 1 ] | ||
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| # Generate the 4 viewing rays that emanate from the principal point and | ||
| # pass through the corners of the image. | ||
| ray = zeros(3,4) | ||
| ray[:,1] = [-C[i].cols/2, -C[i].rows/2, f] | ||
| ray[:,2] = [ C[i].cols/2, -C[i].rows/2, f] | ||
| ray[:,3] = [ C[i].cols/2, C[i].rows/2, f] | ||
| ray[:,4] = [-C[i].cols/2, C[i].rows/2, f] | ||
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| # Scale rays to distance l from the focal plane and make homogeneous | ||
| ray = makehomogeneous(ray*l/f) | ||
| ray = Tw_c*ray # Transform to world coords | ||
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| for n = 1:4 # Draw the rays | ||
| plot3D([C[i].P[1], ray[1,n]], | ||
| [C[i].P[2], ray[2,n]], | ||
| [C[i].P[3], ray[3,n]], | ||
| color=col) | ||
| end | ||
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| # Draw rectangle joining ends of rays | ||
| plot3D([ray[1,1], ray[1,2], ray[1,3], ray[1,4], ray[1,1]], | ||
| [ray[2,1], ray[2,2], ray[2,3], ray[2,4], ray[2,1]], | ||
| [ray[3,1], ray[3,2], ray[3,3], ray[3,4], ray[3,1]], | ||
| color=col) | ||
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| # Draw and label axes | ||
| X = Tw_c[1:3,1]*l .+ C[i].P | ||
| Y = Tw_c[1:3,2]*l .+ C[i].P | ||
| Z = Tw_c[1:3,3]*l .+ C[i].P | ||
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| plot3D([C[i].P[1], X[1,1]], [C[i].P[2], X[2,1]], [C[i].P[3], X[3,1]], | ||
| color=col) | ||
| plot3D([C[i].P[1], Y[1,1]], [C[i].P[2], Y[2,1]], [C[i].P[3], Y[3,1]], | ||
| color=col) | ||
| # plot3D([C[i].P[1], Z(1,1)], [C[i].P[2], Z(2,1)], [C[i].P[3], Z(3,1)],... | ||
| # color=col) | ||
| text3D(X[1], X[2], X[3], "X", color=col) | ||
| text3D(Y[1], Y[2], Y[3], "Y", color=col) | ||
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| end | ||
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| end | ||
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| end # module | ||
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Registration pull request created: JuliaRegistries/General/101515
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Release notes:
This release makes use of the Package Extension mechanism introduced in Julia 1.9 to load the plotting code only if the
PyPlotis also loaded. This reduces dependencies, especially for depending packages, and improves loading times.The previous behavior can be restored using
This rework also opens the door for different plotting backends, for example based on Makie.
Breaking Changes
1.9Non-breaking changes
cameraprojectfunction now includes checking that visible points are in front of the camera 3d455961.9andlatest5084e4cc9f9f37There was a problem hiding this comment.
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Registration pull request updated: JuliaRegistries/General/101515
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via: