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
def get_common_attribute(
item: bpy.types.Object,
attribute_name: str,
local_frame_change: Union[None, List[str]] = None,
world_frame_change: Union[None, List[str]] = None) -> Any:
""" Returns the value of the requested attribute for the given item.
This method covers all general attributes that blender objects have.
:param item: The item. Type: blender object.
:param attribute_name: The attribute name. Type: string.
:param local_frame_change: Can be used to change the local coordinate frame of matrices. Default: ["X", "Y", "Z"]
:param world_frame_change: Can be used to change the world coordinate frame of points and matrices. Default: ["X", "Y", "Z"]
:return: The attribute value.
"""
if local_frame_change is None:
local_frame_change = ["X", "Y", "Z"]
if world_frame_change is None:
world_frame_change = ["X", "Y", "Z"]
# Print warning if local_frame_change is used with other attributes than matrix_world
if local_frame_change != ["X", "Y", "Z"] and attribute_name in [
"location", "rotation_euler", "rotation_forward_vec",
"rotation_up_vec"
]:
print(
"Warning: The local_frame_change parameter is at the moment only supported by the matrix_world attribute."
)
if attribute_name == "name":
return item.name
elif attribute_name == "location":
return MathUtility.change_coordinate_frame_of_point(
item.location, world_frame_change)
elif attribute_name == "rotation_euler":
return MathUtility.change_coordinate_frame_of_point(
item.rotation_euler, world_frame_change)
elif attribute_name == "rotation_forward_vec":
# Calc forward vector from rotation matrix
rot_mat = item.rotation_euler.to_matrix()
forward = rot_mat @ mathutils.Vector([0, 0, -1])
return MathUtility.change_coordinate_frame_of_point(
forward, world_frame_change)
elif attribute_name == "rotation_up_vec":
# Calc up vector from rotation matrix
rot_mat = item.rotation_euler.to_matrix()
up = rot_mat @ mathutils.Vector([0, 1, 0])
return MathUtility.change_coordinate_frame_of_point(
up, world_frame_change)
elif attribute_name == "matrix_world":
# Transform matrix_world to given destination frame
matrix_world = MathUtility.change_source_coordinate_frame_of_transformation_matrix(
item.matrix_world, local_frame_change)
matrix_world = MathUtility.change_target_coordinate_frame_of_transformation_matrix(
matrix_world, world_frame_change)
return [[x for x in c] for c in matrix_world]
elif attribute_name.startswith("customprop_"):
custom_property_name = attribute_name[len("customprop_"):]
# Make sure the requested custom property exist
if custom_property_name in item:
return item[custom_property_name]
else:
raise Exception("No such custom property: " +
custom_property_name)
else:
raise Exception("No such attribute: " + attribute_name)