Implement reprojection in 3d video

Author: alexandreflusin

df3d/core.py

@@ -295,7 +295,8 @@ def smooth_points2d(self, cam_id, private_cache=dict()):
             private_cache[cam_id] = smooth_pose2d(cam.points2d)
         return private_cache[cam_id]
 
-    def plot_2d(self, cam_id, img_id, with_corrections=False, smooth=False, joints=[]):
+    def plot_2d(self, cam_id, img_id, with_corrections=False,
+                smooth=False, joints=[], reprojection=False):
         """Plots the 2d pose estimation results.
 
         Parameters:
@@ -311,11 +312,15 @@ def plot_2d(self, cam_id, img_id, with_corrections=False, smooth=False, joints=[
         from pyba.config import df3d_bones, df3d_colors
 
         if with_corrections:
-            pts2d = self.corrected_points2d(cam_id, img_id)
+            pts = self.corrected_points2d(cam_id, img_id)
         else:
-            pts2d = None
+            pts = None
+
+        if reprojection:
+            pts = np.copy(self.camNet.points3d)
+
         return self.camNet[cam_id].plot_2d(
-            img_id, points2d=pts2d, bones=df3d_bones, colors=df3d_colors
+            img_id, points=pts, bones=df3d_bones, colors=df3d_colors
         )
 
     def get_image(self, cam_id, img_id):

df3d/video.py

@@ -110,17 +110,17 @@ def _make_video(video_path, imgs, fps=default_fps):
 
 def _resize(current_shape, new_width):
     width, height = current_shape
-    ratio = new_width / width;
+    ratio = new_width / width
     return (int(width * ratio), int(height * ratio))
 
 
-def _compute_2d_img(plot_2d, img_id, cam_id):
+def _compute_2d_img(plot_2d, img_id, cam_id, reprojection=True):
     """Uses plot_2d to generate an image and resizes it using cv2.
 
     Returns:
     A numpy array containing the resized image.
     """
-    img = plot_2d(cam_id, img_id, smooth=True)
+    img = plot_2d(cam_id, img_id, smooth=True, reprojection=reprojection)
     img = cv2.resize(img, (img2d_aspect[0]*img3d_dpi, img2d_aspect[1]*img3d_dpi))
     return img