def render_random_scene(self, camera_pose=None):
"""
Renders a random view and return (pc, camera_pose, object_pose).
object_pose is None for single object per scene.
"""
if camera_pose is None:
viewing_index = np.random.randint(0, high=len(self.all_poses))
camera_pose = self.all_poses[viewing_index]
in_camera_pose = copy.deepcopy(camera_pose)
_, _, pc, camera_pose = self.renderer.render(in_camera_pose)
pc = self.apply_dropout(pc)
pc = utils.regularize_pc_point_count(pc, self.opt.npoints)
pc_mean = np.mean(pc, 0, keepdims=True)
pc[:, :3] -= pc_mean[:, :3]
camera_pose[:3, 3] -= pc_mean[0, :3]
return pc, camera_pose, in_camera_pose
def change_object_and_render(self,
cad_path,
cad_scale,
camera_pose=None,
thread_id=0):
if camera_pose is None:
viewing_index = np.random.randint(0, high=len(self.all_poses))
camera_pose = self.all_poses[viewing_index]
in_camera_pose = copy.deepcopy(camera_pose)
_, _, pc, camera_pose = self.renderer.change_and_render(
cad_path, cad_scale, in_camera_pose, thread_id)
pc = self.apply_dropout(pc)
pc = utils.regularize_pc_point_count(pc, self.opt.npoints)
pc_mean = np.mean(pc, 0, keepdims=True)
pc[:, :3] -= pc_mean[:, :3]
camera_pose[:3, 3] -= pc_mean[0, :3]
return pc, camera_pose, in_camera_pose
