def _get_attribute(self, cam_pose, attribute_name):
""" Returns the value of the requested attribute for the given object.
:param cam_pose: The mesh object.
:param attribute_name: The attribute name. Type: string.
:return: The attribute value.
"""
cam, cam_ob = cam_pose
if attribute_name == "fov_x":
return cam.angle_x
elif attribute_name == "fov_y":
return cam.angle_y
elif attribute_name == "shift_x":
return cam.shift_x
elif attribute_name == "shift_y":
return cam.shift_y
elif attribute_name == "half_fov_x":
return cam.angle_x * 0.5
elif attribute_name == "half_fov_y":
return cam.angle_y * 0.5
elif attribute_name == "cam_K":
return [[x for x in c]
for c in CameraUtility.get_intrinsics_as_K_matrix()]
else:
return super()._get_attribute(cam_ob, attribute_name)
def _get_frame_camera(self):
""" Returns camera parameters for the active camera.
"""
return {
'cam_K':
np.hstack(CameraUtility.get_intrinsics_as_K_matrix()).tolist(),
'depth_scale': self.depth_scale
}
def _write_camera(self):
""" Writes camera.json into dataset_dir.
"""
width = bpy.context.scene.render.resolution_x
height = bpy.context.scene.render.resolution_y
cam_K = CameraUtility.get_intrinsics_as_K_matrix()
camera = {
'cx': cam_K[0][2],
'cy': cam_K[1][2],
'depth_scale': self.depth_scale,
'fx': cam_K[0][0],
'fy': cam_K[1][1],
'height': height,
'width': width
}
save_json(self.camera_path, camera)
return
def get_cam_attribute(
cam_ob: bpy.context.scene.camera,
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 object.
:param cam_ob: The camera object.
:param attribute_name: The attribute name.
: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 attribute_name == "fov_x":
return CameraUtility.get_fov()[0]
elif attribute_name == "fov_y":
return CameraUtility.get_fov()[1]
elif attribute_name == "shift_x":
return cam_ob.data.shift_x
elif attribute_name == "shift_y":
return cam_ob.data.shift_y
elif attribute_name == "half_fov_x":
return CameraUtility.get_fov()[0] * 0.5
elif attribute_name == "half_fov_y":
return CameraUtility.get_fov()[1] * 0.5
elif attribute_name == "cam_K":
return [[x for x in c]
for c in CameraUtility.get_intrinsics_as_K_matrix()]
else:
if attribute_name == "cam2world_matrix":
return WriterUtility.get_common_attribute(
cam_ob, "matrix_world", local_frame_change,
world_frame_change)
else:
return WriterUtility.get_common_attribute(
cam_ob, attribute_name, local_frame_change,
world_frame_change)
def get_cam_attribute(
cam_ob: bpy.context.scene.camera,
attribute_name: str,
destination_frame: Union[List[str], None] = None) -> Any:
""" Returns the value of the requested attribute for the given object.
:param cam_ob: The camera object.
:param attribute_name: The attribute name.
:param destination_frame: Used to transform camera to blender coordinates. Default: ["X", "Y", "Z"]
:return: The attribute value.
"""
if attribute_name == "fov_x":
return cam_ob.data.angle_x
elif attribute_name == "fov_y":
return cam_ob.data.angle_y
elif attribute_name == "shift_x":
return cam_ob.data.shift_x
elif attribute_name == "shift_y":
return cam_ob.data.shift_y
elif attribute_name == "half_fov_x":
return cam_ob.data.angle_x * 0.5
elif attribute_name == "half_fov_y":
return cam_ob.data.angle_y * 0.5
elif attribute_name == "cam_K":
return [[x for x in c]
for c in CameraUtility.get_intrinsics_as_K_matrix()]
else:
if destination_frame is None:
destination_frame = ["X", "Y", "Z"]
if attribute_name == "cam2world_matrix":
return WriterUtility.get_common_attribute(
cam_ob, "matrix_world", destination_frame)
else:
return WriterUtility.get_common_attribute(
cam_ob, attribute_name, destination_frame)
