def _get_frame_gt(dataset_objects: List[bpy.types.Mesh],
unit_scaling: float,
ignore_dist_thres: float,
destination_frame: List[str] = ["X", "-Y", "-Z"]):
""" Returns GT pose annotations between active camera and objects.
:param dataset_objects: Save annotations for these objects.
:param unit_scaling: 1000. for outputting poses in mm
:param ignore_dist_thres: Distance between camera and object after which object is ignored. Mostly due to failed physics.
:param destination_frame: Transform poses from Blender internal coordinates to OpenCV coordinates
:return: A list of GT camera-object pose annotations for scene_gt.json
"""
H_c2w_opencv = Matrix(
WriterUtility.get_cam_attribute(
bpy.context.scene.camera,
'cam2world_matrix',
local_frame_change=destination_frame))
frame_gt = []
for obj in dataset_objects:
H_m2w = Matrix(
WriterUtility.get_common_attribute(obj, 'matrix_world'))
cam_H_m2c = H_c2w_opencv.inverted() @ H_m2w
cam_R_m2c = cam_H_m2c.to_quaternion().to_matrix()
cam_t_m2c = cam_H_m2c.to_translation()
# ignore examples that fell through the plane
if not np.linalg.norm(list(cam_t_m2c)) > ignore_dist_thres:
cam_t_m2c = list(cam_t_m2c * unit_scaling)
frame_gt.append({
'cam_R_m2c':
list(cam_R_m2c[0]) + list(cam_R_m2c[1]) +
list(cam_R_m2c[2]),
'cam_t_m2c':
cam_t_m2c,
'obj_id':
obj["category_id"]
})
else:
print('ignored obj, ', obj["category_id"], 'because either ')
print(
'(1) it is further away than parameter "ignore_dist_thres: ",',
ignore_dist_thres)
print(
'(e.g. because it fell through a plane during physics sim)'
)
print('or')
print('(2) the object pose has not been given in meters')
return frame_gt
def _get_frame_gt(dataset_objects,
unit_scaling,
ignore_dist_thres,
destination_frame=["X", "-Y", "-Z"]):
""" Returns GT pose annotations between active camera and objects.
:return: A list of GT annotations.
"""
H_c2w_opencv = Matrix(
WriterUtility.get_cam_attribute(bpy.context.scene.camera,
'cam2world_matrix',
destination_frame))
frame_gt = []
for obj in dataset_objects:
H_m2w = Matrix(
WriterUtility.get_common_attribute(obj, 'matrix_world'))
cam_H_m2c = H_c2w_opencv.inverted() @ H_m2w
cam_R_m2c = cam_H_m2c.to_quaternion().to_matrix()
cam_t_m2c = cam_H_m2c.to_translation()
# ignore examples that fell through the plane
if not np.linalg.norm(list(cam_t_m2c)) > ignore_dist_thres:
cam_t_m2c = list(cam_t_m2c * unit_scaling)
frame_gt.append({
'cam_R_m2c':
list(cam_R_m2c[0]) + list(cam_R_m2c[1]) +
list(cam_R_m2c[2]),
'cam_t_m2c':
cam_t_m2c,
'obj_id':
obj["category_id"]
})
else:
print('ignored obj, ', obj["category_id"], 'because either ')
print(
'(1) it is further away than parameter "ignore_dist_thres: ",',
ignore_dist_thres)
print(
'(e.g. because it fell through a plane during physics sim)'
)
print('or')
print('(2) the object pose has not been given in meters')
return frame_gt