def get_obj_verts_can(self, idx, rescale=True, no_center=False):
idx = self.get_dataidx(idx)
seq, img_idx = self.idxs[idx]
annot = self.seq_map[seq][img_idx]
obj_id = annot["objName"]
verts = self.obj_meshes[obj_id]["verts"]
verts = self.cam_extr[:3, :3].dot(verts.transpose()).transpose()
if rescale:
return meshnorm.center_vert_bbox(verts, scale=False)
elif no_center:
return verts, np.array([0, 0]), 1
else:
return meshnorm.center_vert_bbox(verts, scale=False)
def get_obj_verts_can_rot(self, idx):
idx = self.get_dataidx(idx)
obj = self.objnames[idx]
trans = self.objtransforms[idx]
verts = self.split_objects[obj]["verts"]
trans_verts = fhbutils.transform_obj_verts(verts, trans, self.cam_extr) / 1000
return meshnorm.center_vert_bbox(trans_verts, scale=False)[0]
def get_obj_verts_can(self, idx, no_center=False):
idx = self.get_dataidx(idx)
obj = self.objnames[idx]
verts = self.split_objects[obj]["verts"]
if no_center:
return verts, None, None
else:
return meshnorm.center_vert_bbox(verts, scale=False)
def get_obj_verts_can(self, idx, rescale=True):
sample_id = self.sample_ids[idx]
verts = self.obj_meshes[sample_id]["verts"]
obj_scale = self.meta_infos[idx]["obj_scale"]
verts = verts * obj_scale
# Apply transforms
verts = self.cam_extrs[idx][:3, :3].dot(verts.transpose()).transpose()
if rescale:
return meshnorm.center_vert_bbox(verts, scale=False)
else:
return verts, np.array([0, 0]), 1
def get_obj_verts_can(self, idx, no_center=False):
verts = self.get_obj_verts(idx) # shape: (n, 3)
if no_center:
return verts, None, None
else:
return meshnorm.center_vert_bbox(verts, scale=False)