def make_rig_scene(scene_length: float,
scene: ss.SyntheticStreetScene) -> None:
camera_height = 2
camera_interval = 3
position_perturbation = [0.2, 0.2, 0.01]
rotation_perturbation = 0.3
relative_positions = [[0, 0, 0.2], [0, 0, -0.2], [-0.2, 0, 0], [0.2, 0, 0]]
relative_rotations = [
[0.0, 0.0, 0.0],
[0.0, 3.1415927, 0.0],
[0.0, 1.5707963, 0.0],
[0.0, -1.5707963, 0.0],
]
camera = ss.get_camera("perspective", "1", 0.7, -0.1, 0.01)
cameras = [
camera,
camera,
camera,
camera,
]
scene.add_rig_camera_sequence(
cameras,
relative_positions,
relative_rotations,
scene_length,
camera_height,
camera_interval,
position_perturbation,
rotation_perturbation,
)
def synthetic_circle_scene():
scene_length = 60
points_count = 5000
generator = ss.get_scene_generator("circle", scene_length)
scene = ss.SyntheticStreetScene(generator)
scene.add_street(points_count, 7,
7).perturb_floor([0, 0,
0.1]).perturb_walls([0.2, 0.2, 0.01])
camera_height = 1.5
camera_interval = 3
position_perturbation = [0.2, 0.2, 0.01]
rotation_perturbation = 0.2
camera = ss.get_camera("perspective", "1", 0.7, -0.1, 0.01)
scene.add_camera_sequence(
camera,
0,
scene_length,
camera_height,
camera_interval,
position_perturbation,
rotation_perturbation,
None,
)
return scene
def synthetic_rig_scene():
scene_length = 20
points_count = 5000
generator = ss.get_scene_generator("line", scene_length)
scene = ss.SyntheticStreetScene(generator)
scene.add_street(points_count, 15,
12).perturb_floor([0, 0,
0.1]).perturb_walls([0.2, 0.2, 0.01])
camera_height = 2
camera_interval = 3
position_perturbation = [0.2, 0.2, 0.01]
rotation_perturbation = 0.3
relative_positions = [[0, 0, 0.2], [0, 0, -0.2], [-0.2, 0, 0], [0.2, 0, 0]]
relative_rotations = [
[0, 0, 0],
[0, 3.1415927, 0],
[0, 1.5707963, 0],
[0, -1.5707963, 0],
]
camera_front = ss.get_camera("perspective", "1", 0.7, -0.1, 0.01)
camera_back = ss.get_camera("perspective", "1", 0.7, -0.1, 0.01)
camera_left = ss.get_camera("perspective", "1", 0.9, -0.1, 0.01)
camera_right = ss.get_camera("perspective", "1", 0.9, -0.1, 0.01)
cameras = [
camera_front,
camera_back,
camera_right,
camera_left,
]
scene.add_rig_camera_sequence(
cameras,
relative_positions,
relative_rotations,
0,
scene_length,
camera_height,
camera_interval,
position_perturbation,
rotation_perturbation,
)
return scene
def make_regular_scene(scene_length: float,
scene: ss.SyntheticStreetScene) -> None:
camera_height = 1.5
camera_interval = 3
position_perturbation = [0.2, 0.2, 0.01]
rotation_perturbation = 0.2
camera1 = ss.get_camera("perspective", "1", 0.7, -0.1, 0.01)
scene.add_camera_sequence(
camera1,
scene_length,
camera_height,
camera_interval,
position_perturbation,
rotation_perturbation,
None,
)
def synthetic_small_line_scene():
scene_length = 15
points_count = 5000
generator = ss.get_scene_generator('line', scene_length)
scene = ss.SyntheticStreetScene(generator)
scene.add_street(points_count, 7, 7).perturb_floor([0, 0, 0.1]).\
perturb_walls([0.2, 0.2, 0.01])
camera_height = 1.5
camera_interval = 3
position_perturbation = [0.2, 0.2, 0.01]
rotation_perturbation = 0.3
camera = ss.get_camera('perspective', '1', 0.9, -0.1, 0.01)
scene.add_camera_sequence(camera, 0, scene_length, camera_height,
camera_interval, position_perturbation,
rotation_perturbation)
return scene