def rig_instance_from_json(
reconstruction: types.Reconstruction, instance_id: str, obj: Dict[str, Any]
) -> None:
"""
Read any rig instance from a json shot object
"""
reconstruction.add_rig_instance(pymap.RigInstance(instance_id))
pose = pygeometry.Pose()
pose.rotation = obj["rotation"]
pose.translation = obj["translation"]
reconstruction.rig_instances[instance_id].pose = pose
def add_shots_to_reconstruction(
shots: List[List[str]],
positions: List[np.ndarray],
rotations: List[np.ndarray],
rig_cameras: List[pymap.RigCamera],
cameras: List[pygeometry.Camera],
reconstruction: types.Reconstruction,
sequence_key: str,
):
for camera in cameras:
reconstruction.add_camera(camera)
rec_rig_cameras = []
for rig_camera in rig_cameras:
rec_rig_cameras.append(reconstruction.add_rig_camera(rig_camera))
for i_shots, position, rotation in zip(shots, positions, rotations):
instance_id = "_".join([s[0] for s in i_shots])
rig_instance = reconstruction.add_rig_instance(pymap.RigInstance(instance_id))
rig_instance.pose = pygeometry.Pose(rotation, -rotation.dot(position))
for shot, camera in zip(i_shots, cameras):
shot_id = shot[0]
rig_camera_id = shot[1]
shot = reconstruction.create_shot(
shot_id,
camera.id,
pose=None,
rig_camera_id=rig_camera_id,
rig_instance_id=instance_id,
)
shot.metadata.sequence_key.value = sequence_key
def perspective_views_of_a_panorama(
spherical_shot: pymap.Shot,
width: int,
reconstruction: types.Reconstruction,
image_format: str,
rig_instance_count: Iterator[int],
):
"""Create 6 perspective views of a panorama."""
camera = pygeometry.Camera.create_perspective(0.5, 0.0, 0.0)
camera.id = "perspective_panorama_camera"
camera.width = width
camera.height = width
reconstruction.add_camera(camera)
names = ["front", "left", "back", "right", "top", "bottom"]
rotations = [
tf.rotation_matrix(-0 * np.pi / 2, (0, 1, 0)),
tf.rotation_matrix(-1 * np.pi / 2, (0, 1, 0)),
tf.rotation_matrix(-2 * np.pi / 2, (0, 1, 0)),
tf.rotation_matrix(-3 * np.pi / 2, (0, 1, 0)),
tf.rotation_matrix(-np.pi / 2, (1, 0, 0)),
tf.rotation_matrix(+np.pi / 2, (1, 0, 0)),
]
rig_instance = pymap.RigInstance(next(rig_instance_count))
rig_instance.pose = spherical_shot.pose
shots = []
for name, rotation in zip(names, rotations):
if name not in reconstruction.rig_cameras:
rig_camera_pose = pygeometry.Pose()
rig_camera_pose.set_rotation_matrix(rotation[:3, :3])
rig_camera = pymap.RigCamera(rig_camera_pose, name)
reconstruction.add_rig_camera(rig_camera)
rig_camera = reconstruction.rig_cameras[name]
shot_id = add_image_format_extension(
f"{spherical_shot.id}_perspective_view_{name}", image_format
)
shot = reconstruction.create_shot(shot_id, camera.id)
shot.metadata = spherical_shot.metadata
rig_instance.add_shot(rig_camera, shot)
shots.append(shot)
reconstruction.add_rig_instance(rig_instance)
return shots
def add_shot(
data: DataSetBase,
reconstruction: types.Reconstruction,
rig_assignments: Dict[str, Tuple[int, str, List[str]]],
shot_id: str,
pose: pygeometry.Pose,
) -> Set[str]:
"""Add a shot to the recontruction.
In case of a shot belonging to a rig instance, the pose of
shot will drive the initial pose setup of the rig instance.
All necessary shots and rig models will be created.
"""
added_shots = set()
if shot_id not in rig_assignments:
camera_id = data.load_exif(shot_id)["camera"]
shot = reconstruction.create_shot(shot_id, camera_id, pose)
shot.metadata = get_image_metadata(data, shot_id)
added_shots = {shot_id}
else:
instance_id, _, instance_shots = rig_assignments[shot_id]
created_shots = {}
for shot in instance_shots:
camera_id = data.load_exif(shot)["camera"]
created_shots[shot] = reconstruction.create_shot(
shot, camera_id, pygeometry.Pose()
)
created_shots[shot].metadata = get_image_metadata(data, shot)
rig_instance = reconstruction.add_rig_instance(pymap.RigInstance(instance_id))
for shot in instance_shots:
_, rig_camera_id, _ = rig_assignments[shot]
rig_instance.add_shot(
reconstruction.rig_cameras[rig_camera_id], created_shots[shot]
)
rig_instance.update_instance_pose_with_shot(shot_id, pose)
added_shots = set(instance_shots)
return added_shots
def add_rigs_to_reconstruction(
shots: List[List[str]],
positions: List[np.ndarray],
rotations: List[np.ndarray],
rig_cameras: List[pymap.RigCamera],
reconstruction: types.Reconstruction,
):
rec_rig_cameras = []
for rig_camera in rig_cameras:
if rig_camera.id not in reconstruction.rig_cameras:
rec_rig_cameras.append(reconstruction.add_rig_camera(rig_camera))
else:
rec_rig_cameras.append(reconstruction.rig_cameras[rig_camera.id])
for i, (i_shots, position,
rotation) in enumerate(zip(shots, positions, rotations)):
rig_instance = reconstruction.add_rig_instance(pymap.RigInstance(i))
for j, s in enumerate(i_shots):
rig_instance.add_shot(rec_rig_cameras[j],
reconstruction.get_shot(s[0]))
rig_instance.pose = pygeometry.Pose(rotation, -rotation.dot(position))
