def rig_model_from_json(key, obj):
"""
Read a rig model from a json object
"""
rig_model = pymap.RigModel(key)
for key, rig_camera in obj["rig_cameras"].items():
rig_model.add_rig_camera(rig_camera_from_json(key, rig_camera))
return rig_model
def compute_relative_pose(rig_id, pose_instances):
""" Compute a rig model relatives poses given poses grouped by rig instance. """
# Put all poses instances into some canonical frame taken as the mean of their R|t
centered_pose_instances = []
for instance in pose_instances:
origin_center = np.zeros(3)
rotation_center = np.zeros(3)
for shot, _ in instance:
rotation_center += shot.pose.rotation
origin_center += shot.pose.get_origin()
origin_center /= len(instance)
rotation_center /= len(instance)
centered_pose_instance = []
for shot, rig_camera_id in instance:
instance_pose = pygeometry.Pose(rotation_center)
instance_pose.set_origin(origin_center)
instance_pose_camera = shot.pose.relative_to(instance_pose)
centered_pose_instance.append((
instance_pose_camera,
rig_camera_id,
shot.camera.id,
))
centered_pose_instances.append(centered_pose_instance)
# Average canonical poses per RigCamera ID
average_origin, average_rotation, count_poses, camera_ids = {}, {}, {}, {}
for centered_pose_instance in centered_pose_instances:
for pose, rig_camera_id, camera_id in centered_pose_instance:
if rig_camera_id not in average_origin:
average_origin[rig_camera_id] = np.zeros(3)
average_rotation[rig_camera_id] = np.zeros(3)
count_poses[rig_camera_id] = 0
average_origin[rig_camera_id] += pose.get_origin()
average_rotation[rig_camera_id] += pose.rotation
camera_ids[rig_camera_id] = camera_id
count_poses[rig_camera_id] += 1
# Construct final rig_model results
rig_model = pymap.RigModel(rig_id)
for rig_camera_id, count in count_poses.items():
o = average_origin[rig_camera_id] / count
r = average_rotation[rig_camera_id] / count
pose = pygeometry.Pose(r)
pose.set_origin(o)
rig_model.add_rig_camera(pymap.RigCamera(pose, rig_camera_id))
return rig_model
def add_rig_camera_sequence(
self,
cameras,
relative_positions,
relative_rotations,
start,
length,
height,
interval,
position_noise=None,
rotation_noise=None,
gps_noise=None,
):
default_noise_interval = 0.25 * interval
instances_positions, instances_rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator,
height,
)
sg.perturb_points(instances_positions, position_noise)
sg.perturb_rotations(instances_rotations, rotation_noise)
shots_ids_per_camera = []
for rig_camera_p, rig_camera_r, camera in zip(relative_positions,
relative_rotations,
cameras):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rotations = []
positions = []
for instance_p, instance_r in zip(instances_positions,
instances_rotations):
pose_instance = pygeometry.Pose(instance_r)
pose_instance.set_origin(instance_p)
composed = pose_rig_camera.compose(pose_instance)
rotations.append(composed.rotation)
positions.append(composed.get_origin())
self.shot_rotations.append(rotations)
self.shot_positions.append(positions)
shift = sum(len(s) for s in shots_ids_per_camera)
shots_ids_per_camera.append(
[f"Shot {shift+i:04d}" for i in range(len(positions))])
self.cameras.append(camera)
self.shot_ids += shots_ids_per_camera
rig_camera_ids = []
rig_model = pymap.RigModel(f"RigModel {len(self.rig_models)}")
for i, (rig_camera_p, rig_camera_r) in enumerate(
zip(relative_positions, relative_rotations)):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rig_camera_id = f"RigCamera {i}"
rig_camera = pymap.RigCamera(pose_rig_camera, rig_camera_id)
rig_model.add_rig_camera(rig_camera)
rig_camera_ids.append(rig_camera_id)
self.rig_models.append(rig_model)
rig_instances = []
for i in range(len(instances_positions)):
instance = []
for j in range(len(shots_ids_per_camera)):
instance.append(
(shots_ids_per_camera[j][i], rig_camera_ids[j]))
rig_instances.append(instance)
self.rig_instances.append(rig_instances)
self.instances_positions.append(instances_positions)
self.instances_rotations.append(instances_rotations)
return self
def _create_rig_model():
rig_model = pymap.RigModel("rig_model")
rig_camera = pymap.RigCamera()
rig_camera.id = "rig_camera"
rig_model.add_rig_camera(rig_camera)
return rig_model