def transformObject(v, vn, chScale, chObjAz, chPosition):
#print ('utils.py:16 transformObject')
#print ('v', type(v))
#import ipdb
#ipdb.set_trace()
if chScale.size == 1:
scaleMat = geometry.Scale(x=chScale[0], y=chScale[0],
z=chScale[0])[0:3, 0:3]
elif chScale.size == 2:
scaleMat = geometry.Scale(x=chScale[0], y=chScale[0],
z=chScale[1])[0:3, 0:3]
else:
scaleMat = geometry.Scale(x=chScale[0], y=chScale[1],
z=chScale[2])[0:3, 0:3]
chRotAzMat = geometry.RotateZ(a=chObjAz)[0:3, 0:3]
chRotAzMatX = geometry.RotateX(a=0)[0:3, 0:3]
# transformation = scaleMat
transformation = ch.dot(ch.dot(chRotAzMat, chRotAzMatX), scaleMat)
invTranspModel = ch.transpose(ch.inv(transformation))
vtransf = []
vntransf = []
for mesh_i, mesh in enumerate(v):
vtransf = vtransf + [ch.dot(v[mesh_i], transformation) + chPosition]
vndot = ch.dot(vn[mesh_i], invTranspModel)
vndot = vndot / ch.sqrt(ch.sum(vndot**2, 1))[:, None]
vntransf = vntransf + [vndot]
return vtransf, vntransf
def transformObjectFull(v, vn, chScale, chObjAz, chObjAx, chObjAz2,
chPosition):
if chScale.size == 1:
scaleMat = geometry.Scale(x=chScale[0], y=chScale[0],
z=chScale[0])[0:3, 0:3]
elif chScale.size == 2:
scaleMat = geometry.Scale(x=chScale[0], y=chScale[0],
z=chScale[1])[0:3, 0:3]
else:
scaleMat = geometry.Scale(x=chScale[0], y=chScale[1],
z=chScale[2])[0:3, 0:3]
chRotAzMat = geometry.RotateZ(a=chObjAz)[0:3, 0:3]
chRotAxMat = geometry.RotateX(a=-chObjAx)[0:3, 0:3]
chRotAzMat2 = geometry.RotateZ(a=chObjAz2)[0:3, 0:3]
transformation = ch.dot(
ch.dot(ch.dot(chRotAzMat, chRotAxMat), chRotAzMat2), scaleMat)
invTranspModel = ch.transpose(ch.inv(transformation))
vtransf = []
vntransf = []
for mesh_i, mesh in enumerate(v):
vtransf = vtransf + [ch.dot(v[mesh_i], transformation) + chPosition]
vndot = ch.dot(vn[mesh_i], invTranspModel)
vndot = vndot / ch.sqrt(ch.sum(vndot**2, 1))[:, None]
vntransf = vntransf + [vndot]
return vtransf, vntransf
def computeHemisphereTransformation(chAz, chEl, chDist, objCenter):
chDistMat = geometry.Translate(x=ch.Ch(0), y=-chDist, z=ch.Ch(0))
chToObjectTranslate = geometry.Translate(x=objCenter[0],
y=objCenter[1],
z=objCenter[2])
chRotAzMat = geometry.RotateZ(a=chAz)
chRotElMat = geometry.RotateX(a=-chEl)
chCamModelWorld = ch.dot(chToObjectTranslate,
ch.dot(chRotAzMat, ch.dot(chRotElMat, chDistMat)))
return chCamModelWorld
def computeGlobalAndDirectionalLighting(vn, vc, chLightAzimuth,
chLightElevation, chLightIntensity,
chGlobalConstant):
# Construct point light source
rangeMeshes = range(len(vn))
vc_list = []
chRotAzMat = geometry.RotateZ(a=chLightAzimuth)[0:3, 0:3]
chRotElMat = geometry.RotateX(a=chLightElevation)[0:3, 0:3]
chLightVector = -ch.dot(chRotAzMat, ch.dot(chRotElMat, np.array([0, 0, -1
])))
for mesh in rangeMeshes:
l1 = ch.maximum(ch.dot(vn[mesh], chLightVector).reshape((-1, 1)), 0.)
vcmesh = vc[mesh] * (chLightIntensity * l1 + chGlobalConstant)
vc_list = vc_list + [vcmesh]
return vc_list
def setupCamera(v, cameraParams):
chDistMat = geometry.Translate(x=0,
y=cameraParams['Zshift'],
z=cameraParams['chCamHeight'])
chRotElMat = geometry.RotateX(a=-cameraParams['chCamEl'])
chCamModelWorld = ch.dot(chDistMat, chRotElMat)
flipZYRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0, 1.0, 0.0],
[0.0, -1.0, 0, 0.0], [0.0, 0.0, 0.0, 1.0]])
chMVMat = ch.dot(chCamModelWorld, flipZYRotation)
chInvCam = ch.inv(chMVMat)
modelRotation = chInvCam[0:3, 0:3]
chRod = opendr.geometry.Rodrigues(rt=modelRotation).reshape(3)
chTranslation = chInvCam[0:3, 3]
translation, rotation = (chTranslation, chRod)
camera = ProjectPoints(v=v,
rt=rotation,
t=translation,
f=1000 * cameraParams['chCamFocalLength'] *
cameraParams['a'],
c=cameraParams['c'],
k=ch.zeros(5))
flipXRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, -1.0, 0., 0.0],
[0.0, 0., -1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
camera.openglMat = flipXRotation #Needed to match OpenGL flipped axis.
return camera, modelRotation, chMVMat
def setupCamera(v, cameraParams, is_ycb=False):
chDistMat = geometry.Translate(x=0,
y=cameraParams['Zshift'],
z=cameraParams['chCamHeight'])
#print ('chDistMat', chDistMat)
chRotElMat = geometry.RotateX(a=-cameraParams['chCamEl'])
chCamModelWorld = ch.dot(chDistMat, chRotElMat)
flipZYRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0, 1.0, 0.0],
[0.0, -1.0, 0, 0.0], [0.0, 0.0, 0.0, 1.0]])
chMVMat = ch.dot(chCamModelWorld, flipZYRotation)
if is_ycb:
chMVMat = ch.Ch(np.eye(4))
# np.save('extrinsics.npy', chMVMat, allow_pickle=False)
chInvCam = ch.inv(chMVMat)
modelRotation = chInvCam[0:3, 0:3]
chRod = opendr.geometry.Rodrigues(rt=modelRotation).reshape(3)
chTranslation = chInvCam[0:3, 3]
translation, rotation = (chTranslation, chRod)
# camera parameters format suitable for YCB video dataset
if 'a' in cameraParams.keys():
# NOTE: Focal lenght is represented in mm and a is no.of pixels per mm
_f = 1000 * cameraParams['chCamFocalLength'] * cameraParams['a']
else:
# NOTE: Focal length is already in terms of pixels
if np.any(cameraParams['chCamFocalLength'] < 1):
import sys
sys.exit(
"Camera Focal length 'chCamFocalLength' is represented in number of pixels."
)
_f = cameraParams['chCamFocalLength']
if 'k' in cameraParams.keys():
_k = cameraParams['k']
else:
_k = ch.zeros(5)
print('Using k', _k)
camera = ProjectPoints(v=v,
rt=rotation,
t=translation,
f=_f,
c=cameraParams['c'],
k=_k)
# _f = 1000 * cameraParams['chCamFocalLength'] * cameraParams['a']
# _c = cameraParams['c']
#np.save('intrinsics.npy', camera.camera_mtx, allow_pickle=False)
##print ('camera shape', camera.shape)
##print ('camera ', camera)
print('camera.camera_mtx', camera.camera_mtx)
np.save('projection_matrix', camera.camera_mtx)
#import ipdb
#ipdb.set_trace()
flipXRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, -1.0, 0., 0.0],
[0.0, 0., -1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
camera.openglMat = flipXRotation #Needed to match OpenGL flipped axis.
return camera, modelRotation, chMVMat
