def _randomly_transform_points_boxes(
mesh_inputs, object_inputs, x_min_degree_rotation, x_max_degree_rotation,
y_min_degree_rotation, y_max_degree_rotation, z_min_degree_rotation,
z_max_degree_rotation, rotation_center, min_scale_ratio, max_scale_ratio,
translation_range):
"""Randomly rotate and translate points and boxes.
Args:
mesh_inputs: A dictionary containing mesh input tensors.
object_inputs: A dictionary containing object input tensors.
x_min_degree_rotation: Min degree of rotation around the x axis.
x_max_degree_rotation: Max degree of rotation around the x axis.
y_min_degree_rotation: Min degree of rotation around the y axis.
y_max_degree_rotation: Max degree of rotation around the y axis.
z_min_degree_rotation: Min degree of rotation around the z axis.
z_max_degree_rotation: Max degree of rotation around the z axis.
rotation_center: A 3d point that points are rotated around that.
min_scale_ratio: Minimum scale ratio.
max_scale_ratio: Maximum scale ratio.
translation_range: A float value corresponding to the magnitude of
translation in x, y, and z directions. If None, there will not be a
translation.
"""
# Random rotation of points in camera frame
preprocessor_utils.rotate_randomly(
mesh_inputs=mesh_inputs,
object_inputs=object_inputs,
x_min_degree_rotation=x_min_degree_rotation,
x_max_degree_rotation=x_max_degree_rotation,
y_min_degree_rotation=y_min_degree_rotation,
y_max_degree_rotation=y_max_degree_rotation,
z_min_degree_rotation=z_min_degree_rotation,
z_max_degree_rotation=z_max_degree_rotation,
rotation_center=rotation_center)
# Random scaling
preprocessor_utils.randomly_scale_points_and_objects(
mesh_inputs=mesh_inputs,
object_inputs=object_inputs,
min_scale_ratio=min_scale_ratio,
max_scale_ratio=max_scale_ratio)
# Random translation
if translation_range is not None:
if translation_range < 0:
raise ValueError('Translation range should be positive')
preprocessor_utils.translate_randomly(
mesh_inputs=mesh_inputs,
object_inputs=object_inputs,
delta_x_min=-translation_range,
delta_x_max=translation_range,
delta_y_min=-translation_range,
delta_y_max=translation_range,
delta_z_min=-translation_range,
delta_z_max=translation_range)
def test_rotate_randomly(self):
mesh_inputs = {
standard_fields.InputDataFields.point_positions:
tf.random.uniform([100, 3],
minval=-10.0,
maxval=10.0,
dtype=tf.float32),
}
object_inputs = {
standard_fields.InputDataFields.objects_center:
tf.random.uniform([20, 3],
minval=-10.0,
maxval=10.0,
dtype=tf.float32),
standard_fields.InputDataFields.objects_rotation_matrix:
tf.random.uniform([20, 3, 3],
minval=-1.0,
maxval=1.0,
dtype=tf.float32),
}
preprocessor_utils.rotate_randomly(mesh_inputs=mesh_inputs,
object_inputs=object_inputs,
x_min_degree_rotation=-10.0,
x_max_degree_rotation=10.0,
y_min_degree_rotation=-180.0,
y_max_degree_rotation=180.0,
z_min_degree_rotation=-10.0,
z_max_degree_rotation=10.0,
rotation_center=(0.0, 0.0, 0.0))
self.assertAllEqual(
mesh_inputs[standard_fields.InputDataFields.point_positions].shape,
[100, 3])
self.assertAllEqual(
object_inputs[
standard_fields.InputDataFields.objects_center].shape, [20, 3])
self.assertAllEqual(
object_inputs[
standard_fields.InputDataFields.objects_rotation_matrix].shape,
[20, 3, 3])