def __init__(self, config):
""" Samples valid camera poses inside replica rooms.
Works as the standard camera sampler, except the following differences:
- Always sets the x and y coordinate of the camera location to a value uniformly sampled inside a rooms bounding box
- The configured z coordinate of the configured camera location is used as relative to the floor
- All sampled camera locations need to lie straight above the room's floor to be valid
- Using the scene coverage/interestingness score in the ReplicaCameraSampler does not make much sense, as the 3D mesh is not split into individual objects.
"""
CameraSampler.__init__(self, config)
def __init__(self, config):
CameraSampler.__init__(self, config)
self.cams_per_square_meter = self.config.get_float(
"cams_per_square_meter", 0.5)
self.max_tries_per_room = self.config.get_int("max_tries_per_room",
10000)
self.min_interest_score = self.config.get_float(
"min_interest_score", 0.3)
self.special_objects = self.config.get_list("special_objects", [])
self.special_objects_weight = self.config.get_float(
"special_objects_weight", 2)
self.position_ranges = [
self.config.get_list("position_range_x", []),
self.config.get_list("position_range_y", []),
self.config.get_list("position_range_z", [1.4, 1.4])
]
def __init__(self, config):
""" Samples multiple cameras per room.
Procedure per room:
- sample positions in
- send ray from position straight down and make sure it hits the room's floor first
- send rays through the field of view to approximate a depth map and to make sure no obstacle is too close to the camera
"""
CameraSampler.__init__(self, config)
self.camera_height = 1.55 # out of the suncg scn2cam
self.camera_height_radius = 0.05 # out of the suncg scn2cam, -0.05 - +0.05 on the camera height added
self.camera_rotation_angle_x = 78.6901 # out of the suncg scn2cam
self.position_ranges = [
self.config.get_list("positon_range_x", []),
self.config.get_list("positon_range_y", []),
self.config.get_list("positon_range_z",
[self.camera_height, self.camera_height])
]
self.rotation_ranges = [
self.config.get_list(
"rotation_range_x",
[self.camera_rotation_angle_x, self.camera_rotation_angle_x]),
self.config.get_list("rotation_range_y", [0, 0]),
self.config.get_list("rotation_range_z", [])
]
self.sqrt_number_of_rays = self.config.get_int("sqrt_number_of_rays",
10)
self.min_dist_to_obstacle = self.config.get_float(
"min_dist_to_obstacle", 1)
self.cams_per_square_meter = self.config.get_float(
"cams_per_square_meter", 0.5)
self.max_tries_per_room = self.config.get_int("max_tries_per_room",
10000)
self.number_of_successfull_tries = self.config.get_int(
'sample_amount', 25)
self.bvh_tree = None
def __init__(self, config):
CameraSampler.__init__(self, config)
self.used_floors = []
def __init__(self, config):
CameraSampler.__init__(self, config)
