def _cam2world_matrix_from_cam_extrinsics(self,
config: Config) -> np.ndarray:
""" Determines camera extrinsics by using the given config and returns them in form of a cam to world frame transformation matrix.
:param config: The configuration object.
:return: The 4x4 cam to world transformation matrix.
"""
if not config.has_param("cam2world_matrix"):
position = MathUtility.change_coordinate_frame_of_point(
config.get_vector3d("location", [0, 0, 0]), self.source_frame)
# position = Vector((-0.01111459918320179, -0.051188092678785324, 0.19301876425743103))
rotation_format = config.get_string("rotation/format", "euler")
value = config.get_vector3d("rotation/value", [0, 0, 0])
# Transform to blender coord frame
value = MathUtility.change_coordinate_frame_of_point(
value, self.source_frame)
if rotation_format == "euler":
# Rotation, specified as euler angles
rotation_matrix = Euler(value, 'XYZ').to_matrix()
elif rotation_format == "forward_vec":
# Convert forward vector to euler angle (Assume Up = Z)
rotation_matrix = CameraUtility.rotation_from_forward_vec(
value)
elif rotation_format == "look_at":
# Convert forward vector to euler angle (Assume Up = Z)
rotation_matrix = CameraUtility.rotation_from_forward_vec(
value - position)
else:
raise Exception("No such rotation format:" +
str(rotation_format))
if rotation_format == "look_at" or rotation_format == "forward_vec":
inplane_rot = config.get_float("rotation/inplane_rot", 0.0)
rotation_matrix = np.matmul(
rotation_matrix,
Euler((0.0, 0.0, inplane_rot)).to_matrix())
extra_rot = config.get_vector("rotation/extra_rot",
mathutils.Vector([0., 0., 0.]))
#extra_rot = Vector([0.3,-0.3,-0.7841])
rotation_matrix = rotation_matrix @ Euler(
extra_rot).to_matrix()
# cam2world_matrix = Matrix.Translation(Vector(position)) @ rotation_matrix.to_4x4()
cam2world_matrix = MathUtility.build_transformation_mat(
position, rotation_matrix)
else:
cam2world_matrix = np.array(
config.get_list("cam2world_matrix")).reshape(4, 4).astype(
np.float32)
cam2world_matrix = MathUtility.change_target_coordinate_frame_of_transformation_matrix(
cam2world_matrix, self.source_frame)
return cam2world_matrix
# Init sampler for sampling locations inside the loaded suncg house
point_sampler = SuncgPointInRoomSampler(objs)
# Init bvh tree containing all mesh objects
bvh_tree = MeshObject.create_bvh_tree_multi_objects(
[o for o in objs if isinstance(o, MeshObject)])
poses = 0
tries = 0
while tries < 10000 and poses < 5:
# Sample point inside house
height = np.random.uniform(0.5, 2)
location, _ = point_sampler.sample(height)
# Sample rotation (fix around X and Y axis)
euler_rotation = np.random.uniform([1.2217, 0, 0],
[1.2217, 0, 6.283185307])
cam2world_matrix = MathUtility.build_transformation_mat(
location, euler_rotation)
# Check that obstacles are at least 1 meter away from the camera and make sure the view interesting enough
if CameraValidation.perform_obstacle_in_view_check(
cam2world_matrix, {"min": 1.0}, bvh_tree
) and CameraValidation.scene_coverage_score(cam2world_matrix) > 0.4:
CameraUtility.add_camera_pose(cam2world_matrix)
poses += 1
tries += 1
# activate normal and distance rendering
RendererUtility.enable_normals_output()
RendererUtility.enable_distance_output()
MaterialLoaderUtility.add_alpha_channel_to_textures(blurry_edges=True)
# render the whole pipeline
# define a light and set its location and energy level
light = Light()
light.set_type("POINT")
light.set_location([5, -5, 5])
light.set_energy(1000)
# define the camera intrinsics
CameraUtility.set_intrinsics_from_blender_params(1, 512, 512, lens_unit="FOV")
# read the camera positions file and convert into homogeneous camera-world transformation
with open(args.camera, "r") as f:
for line in f.readlines():
line = [float(x) for x in line.split()]
position, euler_rotation = line[:3], line[3:6]
matrix_world = MathUtility.build_transformation_mat(
position, euler_rotation)
CameraUtility.add_camera_pose(matrix_world)
# activate normal and distance rendering
RendererUtility.enable_normals_output()
RendererUtility.enable_distance_output()
# set the amount of samples, which should be used for the color rendering
RendererUtility.set_samples(50)
# render the whole pipeline
data = RendererUtility.render()
seg_data = SegMapRendererUtility.render(map_by=["instance", "class", "name"])
# Write data to coco file
CocoWriterUtility.write(
proximity_checks = {
"min": 1.0,
"avg": {
"min": 2.5,
"max": 3.5
},
"no_background": True
}
while tries < 10000 and poses < 10:
# Sample point inside house
height = np.random.uniform(1.4, 1.8)
location = point_sampler.sample(height)
# Sample rotation (fix around X and Y axis)
rotation = np.random.uniform([1.2217, 0, 0], [1.338, 0, 6.283185307])
cam2world_matrix = MathUtility.build_transformation_mat(
location,
Euler(rotation).to_matrix())
# Check that obstacles are at least 1 meter away from the camera and have an average distance between 2.5 and 3.5
# meters and make sure that no background is visible, finally make sure the view is interesting enough
if CameraValidation.scene_coverage_score(cam2world_matrix, special_objects, special_objects_weight=10.0) > 0.8 \
and CameraValidation.perform_obstacle_in_view_check(cam2world_matrix, proximity_checks, bvh_tree):
CameraUtility.add_camera_pose(cam2world_matrix)
poses += 1
tries += 1
# set the sample amount to 350
RendererUtility.set_samples(350)
# render the whole pipeline
data = RendererUtility.render()
# define the camera intrinsics
CameraUtility.set_intrinsics_from_blender_params(1,
512,
512,
pixel_aspect_x=1.333333333,
lens_unit="FOV")
# read the camera positions file and convert into homogeneous camera-world transformation
with open(args.camera, "r") as f:
for line in f.readlines():
line = [float(x) for x in line.split()]
position = MathUtility.change_coordinate_frame_of_point(
line[:3], ["X", "-Z", "Y"])
rotation = MathUtility.change_coordinate_frame_of_point(
line[3:6], ["X", "-Z", "Y"])
matrix_world = MathUtility.build_transformation_mat(
position, CameraUtility.rotation_from_forward_vec(rotation))
CameraUtility.add_camera_pose(matrix_world)
# makes Suncg objects emit light
SuncgLighting.light()
# activate normal and distance rendering
RendererUtility.enable_normals_output()
RendererUtility.enable_distance_output()
MaterialLoaderUtility.add_alpha_channel_to_textures(blurry_edges=True)
# render the whole pipeline
data = RendererUtility.render()
data.update(
SegMapRendererUtility.render(Utility.get_temporary_directory(),