def _correct_bbox_frame(bbox: dict) -> dict:
""" Corrects the coordinate frame of the given bbox.
:param bbox: The bbox.
:return: The corrected bbox.
"""
return {
"min": MathUtility.transform_point_to_blender_coord_frame(bbox["min"], ["X", "-Z", "Y"]),
"max": MathUtility.transform_point_to_blender_coord_frame(bbox["max"], ["X", "-Z", "Y"])
}
def get_common_attribute(
item: bpy.types.Object,
attribute_name: str,
destination_frame: 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 destination_frame: Used to transform item to blender coordinates. Default: ["X", "Y", "Z"]
:return: The attribute value.
"""
if destination_frame is None:
destination_frame = ["X", "Y", "Z"]
if attribute_name == "name":
return item.name
elif attribute_name == "location":
return MathUtility.transform_point_to_blender_coord_frame(
item.location, destination_frame)
elif attribute_name == "rotation_euler":
return MathUtility.transform_point_to_blender_coord_frame(
item.rotation_euler, destination_frame)
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.transform_point_to_blender_coord_frame(
forward, destination_frame)
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.transform_point_to_blender_coord_frame(
up, destination_frame)
elif attribute_name == "matrix_world":
# Transform matrix_world to given destination frame
matrix_world = Utility.transform_matrix_to_blender_coord_frame(
item.matrix_world, destination_frame)
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)
def _get_attribute(self, item, attribute_name):
""" 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.
:return: The attribute value.
"""
if attribute_name == "id":
if item.name not in self.name_to_id:
self.name_to_id[item.name] = len(self.name_to_id.values())
return self.name_to_id[item.name]
elif attribute_name == "name":
return item.name
elif attribute_name == "location":
return MathUtility.transform_point_to_blender_coord_frame(
item.location, self.destination_frame)
elif attribute_name == "rotation_euler":
return MathUtility.transform_point_to_blender_coord_frame(
item.rotation_euler, self.destination_frame)
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.transform_point_to_blender_coord_frame(
forward, self.destination_frame)
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.transform_point_to_blender_coord_frame(
up, self.destination_frame)
elif attribute_name == "matrix_world":
# Transform matrix_world to given destination frame
matrix_world = Utility.transform_matrix_to_blender_coord_frame(
item.matrix_world, self.destination_frame)
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)
def _cam2world_matrix_from_cam_extrinsics(self, config):
""" 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 cam to world transformation matrix.
"""
if not config.has_param("cam2world_matrix"):
position = MathUtility.transform_point_to_blender_coord_frame(
config.get_vector3d("location", [0, 0, 0]), self.source_frame)
# Rotation
rotation_format = config.get_string("rotation/format", "euler")
value = config.get_vector3d("rotation/value", [0, 0, 0])
# Transform to blender coord frame
value = MathUtility.transform_point_to_blender_coord_frame(
Vector(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).normalized())
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 = rotation_matrix @ Euler(
(0.0, 0.0, inplane_rot)).to_matrix()
cam2world_matrix = Matrix.Translation(
Vector(position)) @ rotation_matrix.to_4x4()
else:
cam2world_matrix = Matrix(
np.array(config.get_list("cam2world_matrix")).reshape(
4, 4).astype(np.float32))
cam2world_matrix = Utility.transform_matrix_to_blender_coord_frame(
cam2world_matrix, self.source_frame)
return cam2world_matrix