tidied up the visualisation and normal rendering

lib/led_map_3d.py

@@ -38,7 +38,7 @@ def get_center(self):
         return np.average(self.get_xyz_list(), axis=0)
 
     def get_normal_list(self):
-        return [self[led_id]["normal"] for led_id in self.keys()]
+        return np.array([self[led_id]["normal"] for led_id in self.keys()])
 
     def _load(self, filename):
         logging.debug(f"Reading 3D map {filename}...")

lib/map_cleaner.py

@@ -43,7 +43,7 @@ def rescale(led_map, led_to_led_dist=1.0):
 
     for led_id in led_map.data:
         led_map[led_id]["pos"] *= scale
-        led_map[led_id]["normal"] *= scale
+        led_map[led_id]["normal"] *= led_to_led_dist
         led_map[led_id]["error"] *= scale
 
     for cam in led_map.cameras:

lib/sfm/model.py

@@ -32,7 +32,9 @@ def binary_to_led_map_3d(path):
         led_map[led_id]["error"] = np.average(led_map[led_id]["error"], axis=0)
         led_map[led_id]["views"] = list(set(led_map[led_id]["views"]))
 
-    translation_offset = np.average([led_map[led_id]["pos"] for led_id in led_map], axis=0)
+    translation_offset = np.average(
+        [led_map[led_id]["pos"] for led_id in led_map], axis=0
+    )
 
     for led_id in led_map:
         led_map[led_id]["pos"] -= translation_offset
@@ -63,6 +65,8 @@ def binary_to_led_map_3d(path):
             np.average(all_views, axis=0) - led_map[led_id]["pos"]
         )
 
+        led_map[led_id]["normal"] /= np.linalg.norm(led_map[led_id]["normal"])
+
     led_map_3d = LEDMap3D(fix_normals(led_map))
     led_map_3d.cameras = cameras
 

lib/visualize_model.py

@@ -96,7 +96,9 @@ def reload_geometry__(self, first=False):
         self.line_set.colors = open3d.utility.Vector3dVector(c)
 
         self.point_cloud.points = open3d.utility.Vector3dVector(led_map.get_xyz_list())
-        self.point_cloud.normals = open3d.utility.Vector3dVector(led_map.get_normal_list())
+        self.point_cloud.normals = open3d.utility.Vector3dVector(
+            led_map.get_normal_list() * 0.2
+        )
 
         if first:
             self._vis.add_geometry(self.point_cloud)