def transform_matrix(self, matrix):
# Blender is Z up but Mitsuba is Y up, convert the matrix
global_matrix = axis_conversion(to_forward="-Z",
to_up="Y").to_4x4()
l = matrix_to_list(global_matrix * matrix)
mat = Matrix4x4(l)
transform = Transform(mat)
return transform
def convert_meshlab2mitsuba_camera(camera_def: dict) -> Transform:
"""
Takes a meshlab camera dict (usually loaded from a meshlab xml file) and turns it into a valid mitsuba Transform
which can then be applied to a sensor
:param camera_def: The camera def dict, containing at least keys RotationMatrix and TranslationVector
:return: A mitsuba transform constructed from the given values
"""
# Meshlab camera matrix is transposed
matrix = Matrix4x4([
float(elem) for elem in camera_def['RotationMatrix'].split(' ')[:16]
]).transpose()
# Add translation vector
translation = [
-float(elem) for elem in camera_def['TranslationVector'].split(' ')
]
for i in range(3):
matrix[i, 3] = translation[i]
# Make Mitsuba transform and flip rotation signs (y is not flipped, otherwise resulting image will be flipped vertically)
transform = Transform(matrix)
transform *= transform.scale(Vector3(-1, 1, -1))
return transform
def __get_glob_transform(self):
glob_transform = Transform(
Matrix4x4(self.global_transform.ravel(order="C").tolist()))
return glob_transform
def __get_view_transform(self, active_view):
transform = np.eye(4)
transform[0:3, :] = active_view.transform.reshape((3, 4), order="F")
view_transform = Transform(
Matrix4x4(transform.ravel(order="C").tolist()))
return view_transform
