"""Build fig2a_method.svg — pipeline diagram (left half of the old fig 2).
Shows: RGB input → DINO → DINO features → highlighted pixel → 1×1 Conv →
32 ray logits → unproject into the LIBERO scene → three viewers showing
① single ray, ② full volume + argmax, ③ robot servos to the target.
Uses a synthetic ray-logit distribution so the build is offline.
"""
import base64
import os
import time
import numpy as np
import matplotlib
matplotlib.use("Agg")
import matplotlib.pyplot as plt
_t = time.time()
# ═══════════════════════════════════════════════════════════════════════════
# Ray-logit probabilities (cached or synthetic)
# ═══════════════════════════════════════════════════════════════════════════
CACHE = "/tmp/fig2_vol_cache.npz"
if os.path.exists(CACHE):
d = np.load(CACHE)
vol_np = d["vol"]
peak_hvu = tuple(int(x) for x in d["peak"])
else:
hs, vs, us = np.meshgrid(np.arange(32), np.arange(64), np.arange(64), indexing="ij")
d2 = ((hs - 11) / 3.0) ** 2 + ((vs - 32) / 5.0) ** 2 + ((us - 34) / 5.0) ** 2
main = np.exp(-d2)
background = 0.02 * np.random.RandomState(0).rand(32, 64, 64)
vol_np = (main + background) / (main + background).sum()
peak_idx = int(vol_np.argmax())
peak_hvu = (peak_idx // (64 * 64), (peak_idx // 64) % 64, peak_idx % 64)
h_peak, v_peak, u_peak = peak_hvu
ray_probs = vol_np[:, v_peak, u_peak]
ray_probs_norm = ray_probs / ray_probs.max()
# Ray-logit strip SVG (32 horizontal cells, turbo colormap)
STRIP_X_LEFT = 500
STRIP_Y_TOP = 197
STRIP_H = 36
N_BINS = 32
cell_w = 126 / N_BINS # strip width 126
turbo = plt.cm.turbo
strip_cells = []
for i in range(N_BINS):
p = float(ray_probs_norm[i])
x = STRIP_X_LEFT + i * cell_w
c = turbo(p)
r, g, b = int(c[0] * 255), int(c[1] * 255), int(c[2] * 255)
strip_cells.append(
f'')
strip_svg = "\n ".join(strip_cells)
def b64(p):
return base64.b64encode(open(p, "rb").read()).decode()
ASSETS = "/data/cameron/penpot/figures/extracted"
rgb_b64 = b64(f"{ASSETS}/fig1a_rgb_hires.png")
pca_b64 = b64(f"{ASSETS}/fig1a_pca_hires.png")
frustum_b64 = b64(f"{ASSETS}/fig2v3/frustum_ray.png")
volume_b64 = b64(f"{ASSETS}/fig2v3/volume_highlight_crop.png")
servo_b64 = b64(f"{ASSETS}/fig2v3/robot_servo_crop.png")
GREEN = "#16653a"
GRAY = "#6b7280"
SLATE = "#334155"
LIGHT = "#e5e7eb"
DINO_ORANGE = "#d97e1f"
HL = "#facc15"
svg = f'''
'''
out = "/data/cameron/para/paper/figs/svg/fig2a_method.svg"
with open(out, "w") as f:
f.write(svg)
print(f"[{time.time()-_t:.2f}s] wrote {out} ({len(svg)} bytes)")