def setupCamera_centauro(v, cameraParams, tf_world_2_camera):
'''
Simplified setup for the centauro toy example or
most of cases where we don't need to regress for camera parameters
in : tf_world_2_camera (Preferably use Matrix44.look_at() to create this)
'''
modelRotation = tf_world_2_camera[0:3, 0:3]
chRod = opendr.geometry.Rodrigues(rt=modelRotation).reshape(3)
chTranslation = tf_world_2_camera[0:3, 3]
camera = ProjectPoints(v=v,
rt=rotation,
t=translation,
f=1000 * cameraParams['chCamFocalLength'] *
cameraParams['a'],
c=cameraParams['c'],
k=ch.zeros(5))
#print ('camera shape', camera.shape)
#print ('camera ', camera)
flipXRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, -1.0, 0., 0.0],
[0.0, 0., -1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
camera.openglMat = flipXRotation #Needed to match OpenGL flipped axis.
# chMVMat construct might be wrong
# From line 308 chInvCam = ch.inv(chMVMat)
# It seems, chMVMat is tf_camera_2_world
# In any case, the create_renderer function ignores this returned variable
chMVMat = ch.inv(tf_world_2_camera)
return camera, modelRotation, chMVMat
def setupCamera(v, chAz, chEl, chDist, objCenter, width, height):
chCamModelWorld = computeHemisphereTransformation(chAz, chEl, chDist,
objCenter)
chMVMat = ch.dot(chCamModelWorld,
np.array(mathutils.Matrix.Rotation(radians(270), 4, 'X')))
chInvCam = ch.inv(chMVMat)
modelRotation = chInvCam[0:3, 0:3]
chRod = opendr.geometry.Rodrigues(rt=modelRotation).reshape(3)
chTranslation = chInvCam[0:3, 3]
translation, rotation = (chTranslation, chRod)
camera = ProjectPoints(v=v,
rt=rotation,
t=translation,
f=1.12 * ch.array([width, width]),
c=ch.array([width, height]) / 2.0,
k=ch.zeros(5))
camera.openglMat = np.array(mathutils.Matrix.Rotation(
radians(180), 4, 'X'))
return camera, modelRotation, chMVMat
def setupCamera(v, cameraParams):
chDistMat = geometry.Translate(x=0,
y=cameraParams['Zshift'],
z=cameraParams['chCamHeight'])
chRotElMat = geometry.RotateX(a=-cameraParams['chCamEl'])
chCamModelWorld = ch.dot(chDistMat, chRotElMat)
flipZYRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0, 1.0, 0.0],
[0.0, -1.0, 0, 0.0], [0.0, 0.0, 0.0, 1.0]])
chMVMat = ch.dot(chCamModelWorld, flipZYRotation)
chInvCam = ch.inv(chMVMat)
modelRotation = chInvCam[0:3, 0:3]
chRod = opendr.geometry.Rodrigues(rt=modelRotation).reshape(3)
chTranslation = chInvCam[0:3, 3]
translation, rotation = (chTranslation, chRod)
camera = ProjectPoints(v=v,
rt=rotation,
t=translation,
f=1000 * cameraParams['chCamFocalLength'] *
cameraParams['a'],
c=cameraParams['c'],
k=ch.zeros(5))
flipXRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, -1.0, 0., 0.0],
[0.0, 0., -1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
camera.openglMat = flipXRotation #Needed to match OpenGL flipped axis.
return camera, modelRotation, chMVMat
def setupCamera(v, cameraParams, is_ycb=False):
chDistMat = geometry.Translate(x=0,
y=cameraParams['Zshift'],
z=cameraParams['chCamHeight'])
#print ('chDistMat', chDistMat)
chRotElMat = geometry.RotateX(a=-cameraParams['chCamEl'])
chCamModelWorld = ch.dot(chDistMat, chRotElMat)
flipZYRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0, 1.0, 0.0],
[0.0, -1.0, 0, 0.0], [0.0, 0.0, 0.0, 1.0]])
chMVMat = ch.dot(chCamModelWorld, flipZYRotation)
if is_ycb:
chMVMat = ch.Ch(np.eye(4))
# np.save('extrinsics.npy', chMVMat, allow_pickle=False)
chInvCam = ch.inv(chMVMat)
modelRotation = chInvCam[0:3, 0:3]
chRod = opendr.geometry.Rodrigues(rt=modelRotation).reshape(3)
chTranslation = chInvCam[0:3, 3]
translation, rotation = (chTranslation, chRod)
# camera parameters format suitable for YCB video dataset
if 'a' in cameraParams.keys():
# NOTE: Focal lenght is represented in mm and a is no.of pixels per mm
_f = 1000 * cameraParams['chCamFocalLength'] * cameraParams['a']
else:
# NOTE: Focal length is already in terms of pixels
if np.any(cameraParams['chCamFocalLength'] < 1):
import sys
sys.exit(
"Camera Focal length 'chCamFocalLength' is represented in number of pixels."
)
_f = cameraParams['chCamFocalLength']
if 'k' in cameraParams.keys():
_k = cameraParams['k']
else:
_k = ch.zeros(5)
print('Using k', _k)
camera = ProjectPoints(v=v,
rt=rotation,
t=translation,
f=_f,
c=cameraParams['c'],
k=_k)
# _f = 1000 * cameraParams['chCamFocalLength'] * cameraParams['a']
# _c = cameraParams['c']
#np.save('intrinsics.npy', camera.camera_mtx, allow_pickle=False)
##print ('camera shape', camera.shape)
##print ('camera ', camera)
print('camera.camera_mtx', camera.camera_mtx)
np.save('projection_matrix', camera.camera_mtx)
#import ipdb
#ipdb.set_trace()
flipXRotation = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, -1.0, 0., 0.0],
[0.0, 0., -1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])
camera.openglMat = flipXRotation #Needed to match OpenGL flipped axis.
return camera, modelRotation, chMVMat