class CameraPlacement(object):
def __init__(self,
id,
position,
pitch_deg,
yaw_deg,
model,
resolution,
fov,
positional_error_stddev=0.03 / 2.0,
orientation_error_stddev=0.5 / 2.0):
self.id = id
# this will encompass two Cameras
# one true positioned
# one with error
offset_xyz = np.random.normal(loc=0.0,
scale=positional_error_stddev,
size=3)
offset_rp = np.random.normal(loc=0.0,
scale=orientation_error_stddev,
size=2)
# represents camera with errors
self.real_camera = Camera(position=position + offset_xyz,
orientation_pitch_deg=pitch_deg +
offset_rp[0],
orientation_yaw_deg=yaw_deg + offset_rp[1],
verbose=False,
model=model)
# perfectly positioned camera
self.ideal_camera = Camera(position, pitch_deg, yaw_deg, model=model)
self.real_camera.set_resolution(*resolution)
self.real_camera.set_fov(*fov)
self.ideal_camera.set_resolution(*resolution)
self.ideal_camera.set_fov(*fov)
def get_catchment_corners(self):
corners = np.array(self.real_camera.get_corners())
corners[:, 2] = 0
return corners
def get_camera_height(self):
return self.ideal_camera.position[2]
def get_id(self):
return self.id
