def get_obj_fps2d(self, idx):
# FPS2D ARE IN CAMERA COORDINATES (IN ORDER TO EVALUATE THE ACCURACY OF THE 2D KEYPOINT ESTIMATES)!
fps3d = self.get_obj_fps3d_trans(idx)
intr = self.get_camintr(idx)
fps2d_hom = utils.transform(fps3d, intr)
fps2d = fps2d_hom[:, :2] / fps2d_hom[:, 2:]
return np.array(fps2d).astype(np.float32)
def get_joints3d(self, idx):
sample = self.get_dataidx(idx)
coords3d = sample['coords_3d'] # shape: (n, 3)
trans_coords3d = utils.transform(coords3d,
self.get_camextr(idx),
convert_to_homogeneous=True)
return np.array(trans_coords3d).astype(np.float32)
def get_obj_verts_trans(self, idx):
# Get object 3d vertices (n,3) in the camera coordinate frame
verts = self.get_obj_verts(idx) # shape: (n, 3)
trans_verts = utils.transform(verts,
self.get_obj_pose(idx),
convert_to_homogeneous=True)
return np.array(trans_verts).astype(np.float32)
def get_objcorners2d(self, idx):
corners_3d = self.get_obj_corners3d(idx)
intr = self.get_camintr(idx)
corners_2d_hom = utils.transform(corners_3d, intr)
corners_2d = corners_2d_hom[:, :2] / corners_2d_hom[:, 2:]
return np.array(corners_2d).astype(np.float32)
def get_obj_fps3d_trans(self, idx):
fps3d = self.get_obj_fps3d(idx)
pose = self.get_obj_pose(idx)
# Transform points from tool coordinate frame to camera coordinate frame
fps3d = utils.transform(fps3d, pose, convert_to_homogeneous=True)
return np.array(fps3d).astype(np.float32)