hand_planes.py

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#!/usr/bin/env python
'''
hand_planes.py
Mac Mason <mac@cs.duke.edu>

Machine-readable representation of my hand-segmented planes for verification.
'''
# The segments themselves will be maps from plane name to plane location.
names = {'2011-08-04-12-16-23' : 0,
         '2011-08-11-01-31-15' : 1,
         '2011-08-16-20-59-00' : 2,
         '2011-08-25-09-31-05' : 3}

names_rev = dict([(names[k], k) for k in names])

# These next pieces are in voxel coordinates, not /map coordinates; the
# transformation happens further down.
voxels = [{}, {}, {}, {}]
voxels[0] = {
    'interndesk'    : ['501x1165x1529',
                       '502x1166x1529',
                       '527x1145x1529',
                       '518x1140x1529'],
    'partialcart'   : ['499x1076x1527',
                       '504x1078x1527',
                       '514x1060x1527',
                       '505x1055x1527'],
    'greenroom'     : ['616x1374x1524', 
                       '668x1393x1524', 
                       '694x1327x1524',
                       '643x1309x1524'],
    'armature'      : ['145x1179x1525',
                       '167x1185x1525',
                       '185x1134x1525',
                       '164x1127x1525'],  
    'sailboat'      : ['1376x305x1526',
                       '1453x336x1526',
                       '1457x318x1526',
                       '1403x295x1526'],
    'pooltable'     : ['569x823x1527',
                       '605x745x1527', 
                       '651x762x1527',
                       '615x841x1527'],  
    'robotcounter'  : ['796x1201x1526',
                       '886x1240x1526',
                       '896x1219x1526',
                       '806x1182x1526'],  
    'bookscounter'  : ['549x1146x1527',
                       '540x1164x1527', 
                       '542x1192x1527',
                       '560x1148x1527'],
    'laptopcounter' : ['1425x1392x1526',
                       '1441x1397x1526',
                       '1472x1323x1526',
                       '1453x1315x1526'],
    'firsttable'    : ['955x1504x1526', 
                       '995x1521x1526', 
                       '1005x1494x1526',
                       '965x1477x1526'], 
    'secondtable'   : ['931x1557x1525',
                       '971x1574x1525',  
                       '983x1548x1525',
                       '943x1534x1525'],
    'thirdtable'    : ['899x1640x1525',  
                       '939x1656x1525',  
                       '949x1629x1525',
                       '908x1613x1525'],  
    'longtable'     : ['990x1667x1525',  
                       '1021x1675x1525',  # Or 1046x1629x1525; see notes.
                       '1086x1523x1525',
                       '1054x1509x1525'],
    'printer'       : ['204x1236x1529',
                       '210x1240x1529',
                       '224x1211x1529',
                       '217x1207x1529'],
    'tvcounter'     : ['485x1305x1527',
                       '495x1306x1527',
                       '510x1273x1527',
                       '499x1269x1527'],
    'tvcounter2'    : ['493x1265x1527',
                       '510x1269x1527',
                       '515x1257x1527',
                       '498x1255x1527']
}

voxels[1] = {
    'mobilecounter'   : ['736x1343x1520',
                         '751x1349x1520',
                         '759x1329x1520',
                         '743x1322x1520'],
    'tvcounter'       : ['499x1298x1527',
                         '508x1300x1527',
                         '522x1267x1527',
                         '510x1268x1527'],
    'cardboard'       : ['1284x317x1528',
                         '1320x331x1528',
                         '1329x312x1528',
                         '1292x296x1528'],
    'stool'           : ['1251x1473x1530',
                         '1269x1470x1530',
                         '1265x1456x1530',
                         '1251x1459x1530'],
    'greenroom'       : ['641x1352x1524',  
                         '692x1370x1524', 
                         '728x1283x1524',
                         '682x1264x1524'],  
    'pooltable'       : ['587x818x1527',
                         '630x838x1527',
                         '665x758x1527',
                         '621x736x1527'],
    'sinkcounter'     : ['684x905x1530',
                         '714x916x1530',
                         '771x794x1530',
                         '745x780x1530'],
    'bookscounter'    : ['543x1186x1526',
                         '554x1194x1526',
                         '575x1145x1526',
                         '561x1140x1526'],
    'sailboat'        : ['1382x298x1525',
                         '1468x335x1525',
                         '1477x317x1525',
                         '1397x282x1525'],  # or 1414x290x290; see notes.
    'firsttable'      : ['969x1503x1525', 
                         '1007x1518x1525', 
                         '1016x1491x1525',
                         '980x1476x1525'], 
    'secondtable'     : ['945x1557x1525', 
                         '985x1573x1525', 
                         '996x1549x1525',
                         '955x1531x1525'], 
    'thirdtable'      : ['911x1640x1525', 
                         '952x1654x1525', 
                         '963x1629x1525',
                         '922x1615x1525'], 
    'fourthtable'     : ['861x1758x1526',  # (eyeball).
                         '900x1771x1526',  # (minor eyeball).  
                         '912x1743x1526',
                         '872x1727x1526'],
    'longtable'       : ['1047x1563x1525',
                         '1071x1594x1525',  # (eyeball). 
                         '1098x1520x1525',
                         '1066x1508x1525'],  
    'robotcounter'    : ['810x1197x1526',
                         '897x1233x1526',
                         '905x1212x1526', # (very minor eyeball).
                         '822x1177x1526'], # (eyeball).
    'laptopcounter'   : ['1442x1387x1527',
                         '1457x1394x1527',
                         '1486x1318x1527',
                         '1471x1312x1527'],
    'computercounter' : ['808x1281x1524',
                         '889x1312x1524',
                         '896x1297x1524',
                         '812x1265x1524'],
    'printer1'        : ['196x1284x1527',
                         '213x1289x1527',
                         '220x1238x1527',
                         '215x1236x1527'],
    'printer2'        : ['217x1234x1527',
                         '234x1240x1527',
                         '244x1217x1527',
                         '231x1204x1527']
}

voxels[2] = {
    'bookcounter'   : ['546x1187x1527',
                       '558x1194x1527',
                       '579x1146x1527',
                       '553x1163x1527'],
    'greenroom'     : ['647x1353x1525',
                       '686x1366x1525',  # (eyeball).
                       '726x1284x1525',
                       '686x1266x1525'],
    'pooltable'     : ['591x822x1526',
                       '633x840x1526',
                       '672x758x1526',
                       '631x739x1526'],
    'sinkcounter'   : ['690x913x1526',
                       '711x922x1526',
                       '766x804x1526',  # (eyeball)
                       '740x793x1526'],  # (eyeball!)
    'robotcounter'  : ['819x1201x1525',
                       '909x1240x1525',
                       '920x1218x1525',  # (eyeball).
                       '828x1179x1525'],
    'firsttable'    : ['976x1501x1525',
                       '1016x1518x1525',
                       '1026x1490x1525',
                       '989x1474x1525'],
    'secondtable'   : ['950x1554x1525',
                       '991x1573x1525',
                       '1003x1546x1525',
                       '964x1528x1525'],
    'thirdtable'    : ['919x1638x1525',
                       '958x1655x1525',
                       '969x1628x1525',
                       '930x1612x1525'],
    'fourthtable'   : ['866x1753x1526',
                       '905x1772x1526',
                       '917x1744x1526',
                       '878x1729x1526'],
    # This is the _entire_ long table, which is in two pieces in this case.
    'longtable'     : ['1007x1662x1526',
                       '1039x1656x1526',
                       '1102x1525x1526',
                       '1071x1510x1526'],
    'laptopcounter' : ['1448x1382x1526',
                       '1465x1390x1526',
                       '1493x1321x1526',
                       '1476x1314x1526'],
    'sailboat'      : ['1385x302x1526',
                       '1470x338x1526',
                       '1473x317x1526',
                       '1407x290x1526'],
    'printer1'      : ['202x1288x1526',
                       '217x1294x1526',
                       '228x1272x1526',
                       '217x1257x1526'],
    'printer2'      : ['222x1242x1527',
                       '240x1251x1527',
                       '246x1234x1527',
                       '236x1218x1527'],
    'mwise'         : ['989x1198x1527',
                       '1000x1199x1527',
                       '1009x1181x1527',
                       '998x1177x1527'],
#    'tvcounter'    : ['476x1334x1526',
#                      '494x1339x1526',
#                      '504x1315x1526',
#                      '491x1314x1526'],
    'tvcounter2'   : ['506x1303x1526',
                      '528x1256x1526',
                      '511x1258x1526',
                      '502x1296x1526']
}

voxels[3] = {
    'pooltable'     : ['581x822x1527', 
                       '624x839x1527', 
                       '658x761x1527',
                       '620x738x1527'], 
    'laptopcounter' : ['1435x1394x1527',
                       '1452x1402x1527',
                       '1479x1321x1527',
                       '1459x1313x1527'],  # Includes a weird event.
    'sailboat'      : ['1379x302x1526',  # (eyeball)
                       '1461x336x1526',  
                       '1468x319x1526',
                       '1388x283x1526'],  # (eyeball)
    'robotcounter'  : ['802x1198x1526',
                       '892x1237x1526',  # (minor eyeball)
                       '901x1220x1526',
                       '815x1180x1526'],
    'greenroom'     : ['635x1354x1525',
                       '678x1373x1525',
                       '718x1286x1525',
                       '675x1265x1525'],
    'firsttable'    : ['967x1501x1525',
                       '1007x1516x1525',
                       '1018x1488x1525',
                       '981x1473x1525'],
    'secondtable'   : ['945x1553x1525',
                       '982x1570x1525',
                       '994x1543x1525',
                       '959x1527x1525'],
    'thirdtable'    : ['906x1636x1525',
                       '949x1652x1525',
                       '959x1625x1525',
                       '918x1612x1525'],
    'fourthtable'   : ['857x1753x1525',
                       '898x1768x1525',
                       '907x1743x1525',
                       '866x1728x1525'],
    'farlongtable'  : ['929x1798x1525',  # (eyeball)
                       '950x1819x1525',  # (eyeball-ish)
                       '972x1788x1525',
                       '941x1774x1525'],
    'longtable'     : ['990x1692x1524',
                       '1021x1702x1524',
                       '1094x1521x1524',
                       '1062x1509x1524'],
    'makerbot'      : ['251x1126x1526',
                       '273x1134x1526',
                       '287x1101x1526',
                       '278x1067x1526'],
    'sinkcounter'   : ['685x908x1529',
                       '704x917x1529',
                       '732x848x1529',
                       '716x843x1529'],
    'bookscounter'  : ['539x1180x1527',
                       '557x1180x1527',
                       '572x1144x1527',
                       '558x1146x1527'],
    'tvcounter'     : ['494x1302x1527',
                       '504x1301x1527',
                       '524x1255x1527',
                       '514x1253x1527'],
    'cardboard'     : ['1206x286x1533',
                       '1242x301x1533',
                       '1246x290x1533',
                       '1212x276x1533'],
    'buffet'        : ['1130x1718x1537',
                       '1146x1726x1537',
                       '1156x1706x1537',
                       '1141x1699x1537'],
    'stool1'        : ['1227x1525x1528',
                       '1240x1526x1528',
                       '1242x1511x1528',
                       '1229x1509x1528'],
    'stool2'        : ['1245x1478x1528',
                       '1259x1483x1528',
                       '1266x1469x1528',
                       '1251x1462x1528'],
    'littletable'   : ['517x1271x1522',
                       '535x1280x1522',
                       '541x1264x1522',
                       '523x1257x1522'],
    'printer1'      : ['210x1242x1526',
                       '228x1246x1526',
                       '230x1237x1526',
                       '219x1219x1526'],
    'printer2'      : ['194x1272x1526',
                       '216x1275x1526',
                       '212x1258x1526',
                       '208x1248x1526']
}

# A quick sanity check.
for name in names_rev:
  for k in voxels[name]:
    if len(voxels[name][k]) != 4:
      print "You have a non-square object!", name, k

def dex(s):
  '''dex for 'de-x'; convert my string format into (float, float, float).'''
  return [tuple([float(y) for y in x.strip().split('x')]) for x in s]

# The coordinates above are in pixel coordinates, from the slices viewer. We
# need to get back towards world coordinates. We're going to need the bounding
# boxes, to start, so we can get back into world-voxel coordinates.
lower_coordinates = ['1550x1790x1474', 
                     '1536x1778x1486',
                     '1532x1772x1484',
                     '1542x1740x1488']

upper_coordinates = ['3085x3573x1603',
                     '3081x3569x1609',
                     '3071x3573x1621',
                     '3071x3573x1605']

# Reformat these.
lcs = dex(lower_coordinates)
ucs = dex(upper_coordinates)

del upper_coordinates
del lower_coordinates

# At the end, produce an array of dicts in the /map frame, called meters.
def floatify(D):
  '''
  Turn a dictionary in my string format into a dictionary of (float, float,
  float) triples.
  '''
  return dict([(k, dex(D[k])) for k in D])

unscaled = [floatify(x) for x in voxels]

# Given a /map coordinate, in meters, our tree representation will put it at
# ((x * scale) + offset, ditto y, ditto z).
# 
# To draw it, we compute the minimum x and y, and subtract those off. 
# Then we flip it around the rows, because (0, 0) is in the top-left corner.
#
# So we need to undo those steps. The first step will be to unflip it around
# the rows.
def unflip_tuple_rows(t, lc, uc):
  '''Unflip a tuple around rows, given the appropriate bounding box.'''
  return (t[0], (uc[1] - lc[1]) - t[1], t[2])

def unflip_dict(D, lc, uc):
  '''As above, but for a dictionary.'''
  return dict([(k, [unflip_tuple_rows(t, lc, uc) for t in D[k]]) for k in D])

unflipped = [unflip_dict(unscaled[i], lcs[i], ucs[i]) for i in range(4)]

# Next, we need to add the subtracted-off minimums back in.
def unbox_tuple(t, lc):
  return (t[0] + lc[0], t[1] + lc[1], t[2])

def unbox_dict(D, lc):
  return dict([(k, [unbox_tuple(t, lc) for t in D[k]]) for k in D])

unboxeds = [unbox_dict(unflipped[i], lcs[i]) for i in range(4)]

# Now, do the offsets.
OFFSET = 1500
def offset_tuple(t, o):
  return (t[0] + o, t[1] + o, t[2] + o)

def offset_dict(D, o):
  return dict([(k, [offset_tuple(t, o) for t in D[k]]) for k in D])

offsets = [offset_dict(D, -OFFSET) for D in unboxeds]

# Finally, convert to meters.
SCALE = 35.0
def scale_tuple(t, s):
  '''Divide t by s.'''
  return (t[0] / s, t[1] / s, t[2] / s)

def scale_dict(D, s):
  '''Divide D by s.'''
  return dict([(k, [scale_tuple(t, s) for t in D[k]]) for k in D])

meters = [scale_dict(D, SCALE) for D in offsets]