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refactor: extract-method hygiene pass on 3 large methods (finding 8) #33

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Merged
petercorke merged 8 commits into from
Aug 2, 2026
Merged

refactor: extract-method hygiene pass on 3 large methods (finding 8) #33

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67bd84f
refactor: extract _infer_dtype/_reshape_to_size from Image.__init__
petercorke Aug 1, 2026
d56ab59
refactor: extract _fixdims/_lenkey from Image.__getitem__
petercorke Aug 1, 2026
5278bd5
test: add characterization tests for Camera.plot()
petercorke Aug 2, 2026
7aed309
refactor: extract _plot_frustum/_plot_camera_icon from Camera.plot
petercorke Aug 2, 2026
06353dd
test: add Histogram.plot(style="overlay") happy-path coverage
petercorke Aug 2, 2026
822e242
refactor: extract 3 helpers from Histogram.plot
petercorke Aug 2, 2026
c8b85de
Merge remote-tracking branch 'origin/main' into chore/extract-method-…
petercorke Aug 2, 2026
00b0e9f
Merge remote-tracking branch 'origin/main' into chore/extract-method-…
petercorke Aug 2, 2026
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171 changes: 93 additions & 78 deletions src/machinevisiontoolbox/Camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1216,86 +1216,10 @@ def _add_collection3d_compat(collection, *args, **kwargs):
try:
# draw camera-like object:
if shape == "frustum":
# TODO make this kwargs or optional inputs
# side colors:
# +x red
# -y red
# +y green
# -y yellow
length = scale
widthb = scale / 10
widtht = scale
widthb /= 2
widtht /= 2
b0 = np.array([-widthb, -widthb, 0, 1])
b1 = np.array([-widthb, widthb, 0, 1])
b2 = np.array([widthb, widthb, 0, 1])
b3 = np.array([widthb, -widthb, 0, 1])
t0 = np.array([-widtht, -widtht, length, 1])
t1 = np.array([-widtht, widtht, length, 1])
t2 = np.array([widtht, widtht, length, 1])
t3 = np.array([widtht, -widtht, length, 1])

# bottom/narrow end
T = pose.A
b0 = (T @ b0)[:-1]
b1 = (T @ b1)[:-1]
b2 = (T @ b2)[:-1]
b3 = (T @ b3)[:-1]

# wide/top end
t0 = (T @ t0)[:-1]
t1 = (T @ t1)[:-1]
t2 = (T @ t2)[:-1]
t3 = (T @ t3)[:-1]

points = [
np.array([b0, b1, t1, t0]), # -x face
np.array([b1, b2, t2, t1]), # +y face
np.array([b2, b3, t3, t2]), # +x face
np.array([b3, b0, t0, t3]), # -y face
]
poly = Poly3DCollection(
points, facecolors=["r", "g", "r", "y"], alpha=alpha
)
ax.add_collection3d(poly)
self._plot_frustum(ax, pose, scale, alpha)

elif shape == "camera":
# the box is centred at the origin and its centerline parallel to the
# z-axis. Its z-extent is -bh/2 to bh/2.
W = 0.5 # width & height of the box
L = 1.2 # length of the box
cr = 0.2 # cylinder radius
ch = 0.4 # cylinder height
cn = 12 # number of facets of cylinder
a = 3 # length of axis line segments

# draw the box part of the camera
smb.plot_cuboid(
sides=np.r_[W, W, L] * scale,
pose=pose,
filled=solid,
color=color,
alpha=0.5 * alpha if solid else alpha,
ax=ax,
)

# draw the lens
smb.plot_cylinder(
radius=cr * scale,
height=np.r_[L / 2, L / 2 + ch] * scale,
resolution=cn,
pose=pose,
filled=solid,
color=color,
alpha=0.5 * alpha,
ax=ax,
)

if label:
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Z")
self._plot_camera_icon(ax, pose, scale, solid, color, alpha, label)

if frame is True:
self.pose.plot(
Expand All @@ -1311,6 +1235,97 @@ def _add_collection3d_compat(collection, *args, **kwargs):

return ax

def _plot_frustum(self, ax: Axes, pose: SE3, scale: float, alpha: float) -> None:
"""Draw the ``shape="frustum"`` camera icon into ``ax``."""
# TODO make this kwargs or optional inputs
# side colors:
# +x red
# -y red
# +y green
# -y yellow
length = scale
widthb = scale / 10
widtht = scale
widthb /= 2
widtht /= 2
b0 = np.array([-widthb, -widthb, 0, 1])
b1 = np.array([-widthb, widthb, 0, 1])
b2 = np.array([widthb, widthb, 0, 1])
b3 = np.array([widthb, -widthb, 0, 1])
t0 = np.array([-widtht, -widtht, length, 1])
t1 = np.array([-widtht, widtht, length, 1])
t2 = np.array([widtht, widtht, length, 1])
t3 = np.array([widtht, -widtht, length, 1])

# bottom/narrow end
T = pose.A
b0 = (T @ b0)[:-1]
b1 = (T @ b1)[:-1]
b2 = (T @ b2)[:-1]
b3 = (T @ b3)[:-1]

# wide/top end
t0 = (T @ t0)[:-1]
t1 = (T @ t1)[:-1]
t2 = (T @ t2)[:-1]
t3 = (T @ t3)[:-1]

points = [
np.array([b0, b1, t1, t0]), # -x face
np.array([b1, b2, t2, t1]), # +y face
np.array([b2, b3, t3, t2]), # +x face
np.array([b3, b0, t0, t3]), # -y face
]
poly = Poly3DCollection(points, facecolors=["r", "g", "r", "y"], alpha=alpha)
ax.add_collection3d(poly)

def _plot_camera_icon(
self,
ax: Axes,
pose: SE3,
scale: float,
solid: bool,
color: str,
alpha: float,
label: bool,
) -> None:
"""Draw the ``shape="camera"`` box+cylinder icon into ``ax``."""
# the box is centred at the origin and its centerline parallel to the
# z-axis. Its z-extent is -bh/2 to bh/2.
W = 0.5 # width & height of the box
L = 1.2 # length of the box
cr = 0.2 # cylinder radius
ch = 0.4 # cylinder height
cn = 12 # number of facets of cylinder
a = 3 # length of axis line segments

# draw the box part of the camera
smb.plot_cuboid(
sides=np.r_[W, W, L] * scale,
pose=pose,
filled=solid,
color=color,
alpha=0.5 * alpha if solid else alpha,
ax=ax,
)

# draw the lens
smb.plot_cylinder(
radius=cr * scale,
height=np.r_[L / 2, L / 2 + ch] * scale,
resolution=cn,
pose=pose,
filled=solid,
color=color,
alpha=0.5 * alpha,
ax=ax,
)

if label:
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Z")

def _add_noise_distortion(self, uv: np.ndarray) -> np.ndarray:
"""
Add noise to pixel coordinates
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