def add_camera_sequence(
self,
camera: pygeometry.Camera,
start: float,
length: float,
height: float,
interval: float,
position_noise: List[float],
rotation_noise: float,
positions_shift: Optional[List[float]] = None,
):
default_noise_interval = 0.25 * interval
positions, rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator, # pyre-fixme [6]
height,
)
sg.perturb_points(positions, position_noise)
sg.perturb_rotations(rotations, rotation_noise)
if positions_shift:
positions += np.array(positions_shift)
self.shot_rotations.append(rotations)
self.shot_positions.append(positions)
shift = 0 if len(self.shot_ids) == 0 else len(self.shot_ids[-1])
self.shot_ids.append(
[f"Shot {shift+i:04d}" for i in range(len(positions))])
self.cameras.append(camera)
return self
def get_reconstruction(self,
rotation_noise=0.0,
position_noise=0.0,
camera_noise=0.0):
floor_color = [120, 90, 10]
wall_color = [10, 90, 130]
positions = self.shot_positions
if position_noise != 0.0:
for p in positions:
sg.perturb_points(p, position_noise)
rotations = self.shot_rotations
if position_noise != 0.0:
for r in rotations:
sg.perturb_rotations(r, rotation_noise)
cameras = self.cameras
if camera_noise != 0.0:
for c in cameras:
c.focal *= 1 + camera_noise
return sg.create_reconstruction(
[self.floor_points, self.wall_points],
[floor_color, wall_color],
cameras,
self.shot_ids,
positions,
rotations,
self.rig_instances,
self.instances_positions,
self.instances_rotations,
self.rig_models,
)
def add_camera_sequence(
self,
camera,
start,
length,
height,
interval,
position_noise=None,
rotation_noise=None,
gps_noise=None,
):
default_noise_interval = 0.25 * interval
positions, rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator,
height,
)
sg.perturb_points(positions, position_noise)
sg.perturb_rotations(rotations, rotation_noise)
self.shot_rotations.append(rotations)
self.shot_positions.append(positions)
shift = 0 if len(self.shot_ids) == 0 else len(self.shot_ids[-1])
self.shot_ids.append(
[f"Shot {shift+i:04d}" for i in range(len(positions))])
self.cameras.append(camera)
return self
def add_camera_sequence(self, camera, start, length, height, interval,
position_noise=None, rotation_noise=None,
gps_noise=None):
default_noise_interval = 0.25 * interval
positions, rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator, height)
sg.perturb_points(positions, position_noise)
sg.perturb_rotations(rotations, rotation_noise)
self.shot_rotations.append(rotations)
self.shot_positions.append(positions)
self.cameras.append(camera)
return self
def add_camera_sequence(self, camera, start, length, height, interval,
position_noise=None, rotation_noise=None,
gps_noise=None):
default_noise_interval = 0.25*interval
positions, rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator, height)
sg.perturb_points(positions, position_noise)
sg.perturb_rotations(rotations, rotation_noise)
self.shot_rotations.append(rotations)
self.shot_positions.append(positions)
self.cameras.append(camera)
return self
def add_camera_sequence(
self,
camera: pygeometry.Camera,
length: float,
height: float,
interval: float,
position_noise: List[float],
rotation_noise: float,
positions_shift: Optional[List[float]] = None,
end: Optional[float] = None,
) -> "SyntheticStreetScene":
default_noise_interval = 0.25 * interval
actual_end = length if end is None else end
generator = self.generator
assert generator
positions, rotations = sg.generate_cameras(
sg.samples_generator_interval(length, actual_end, interval,
default_noise_interval),
generator,
height,
)
sg.perturb_points(positions, position_noise)
sg.perturb_rotations(rotations, rotation_noise)
if positions_shift:
positions += np.array(positions_shift)
shift = 0 if len(self.shot_ids) == 0 else sum(
len(s) for s in self.shot_ids)
new_shot_ids = [f"Shot {shift+i:04d}" for i in range(len(positions))]
self.shot_ids.append(new_shot_ids)
self.cameras.append([camera])
rig_camera = pymap.RigCamera(pygeometry.Pose(), camera.id)
self.rig_cameras.append([rig_camera])
rig_instances = []
for shot_id in new_shot_ids:
rig_instances.append([(shot_id, camera.id)])
self.rig_instances.append(rig_instances)
self.instances_positions.append(positions)
self.instances_rotations.append(rotations)
return self
def add_rig_camera_sequence(
self,
cameras: List[pygeometry.Camera],
relative_positions: List[List[float]],
relative_rotations: List[List[float]],
length: float,
height: float,
interval: float,
position_noise: List[float],
rotation_noise: float,
end: Optional[float] = None,
) -> "SyntheticStreetScene":
default_noise_interval = 0.25 * interval
actual_end = length if end is None else end
generator = self.generator
assert generator
instances_positions, instances_rotations = sg.generate_cameras(
sg.samples_generator_interval(length, actual_end, interval,
default_noise_interval),
generator,
height,
)
sg.perturb_points(instances_positions, position_noise)
sg.perturb_rotations(instances_rotations, rotation_noise)
shots_ids_per_camera = []
for rig_camera_p, rig_camera_r in zip(relative_positions,
relative_rotations):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rotations = []
positions = []
for instance_p, instance_r in zip(instances_positions,
instances_rotations):
pose_instance = pygeometry.Pose(instance_r)
pose_instance.set_origin(instance_p)
composed = pose_rig_camera.compose(pose_instance)
rotations.append(composed.rotation)
positions.append(composed.get_origin())
shift = sum(len(s) for s in shots_ids_per_camera)
shots_ids_per_camera.append(
[f"Shot {shift+i:04d}" for i in range(len(positions))])
self.cameras.append(cameras)
self.shot_ids += shots_ids_per_camera
rig_camera_ids = []
rig_cameras = []
rig_camera_id_shift = sum(len(s) for s in self.rig_cameras)
for i, (rig_camera_p, rig_camera_r) in enumerate(
zip(relative_positions, relative_rotations)):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rig_camera_id = f"RigCamera {rig_camera_id_shift + i}"
rig_camera = pymap.RigCamera(pose_rig_camera, rig_camera_id)
rig_camera_ids.append(rig_camera_id)
rig_cameras.append(rig_camera)
self.rig_cameras.append(rig_cameras)
rig_instances: List[List[Tuple[str, str]]] = []
for i in range(len(instances_positions)):
instance = []
for j in range(len(shots_ids_per_camera)):
instance.append(
(shots_ids_per_camera[j][i], rig_camera_ids[j]))
rig_instances.append(instance)
self.rig_instances.append(rig_instances)
self.instances_positions.append(instances_positions)
self.instances_rotations.append(instances_rotations)
return self
def add_rig_camera_sequence(
self,
cameras: List[pygeometry.Camera],
relative_positions: List[List[float]],
relative_rotations: List[List[float]],
start: float,
length: float,
height: float,
interval: float,
position_noise: List[float],
rotation_noise: float,
):
default_noise_interval = 0.25 * interval
instances_positions, instances_rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator, # pyre-fixme [6]
height,
)
sg.perturb_points(instances_positions, position_noise)
sg.perturb_rotations(instances_rotations, rotation_noise)
shots_ids_per_camera = []
for rig_camera_p, rig_camera_r, camera in zip(relative_positions,
relative_rotations,
cameras):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rotations = []
positions = []
for instance_p, instance_r in zip(instances_positions,
instances_rotations):
pose_instance = pygeometry.Pose(instance_r)
pose_instance.set_origin(instance_p)
composed = pose_rig_camera.compose(pose_instance)
rotations.append(composed.rotation)
positions.append(composed.get_origin())
self.shot_rotations.append(np.array(rotations))
self.shot_positions.append(np.array(positions))
shift = sum(len(s) for s in shots_ids_per_camera)
shots_ids_per_camera.append(
[f"Shot {shift+i:04d}" for i in range(len(positions))])
self.cameras.append(camera)
self.shot_ids += shots_ids_per_camera
rig_camera_ids = []
rig_cameras = []
rig_camera_id_shift = sum(len(s) for s in self.rig_cameras)
for i, (rig_camera_p, rig_camera_r) in enumerate(
zip(relative_positions, relative_rotations)):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rig_camera_id = f"RigCamera {rig_camera_id_shift + i}"
rig_camera = pymap.RigCamera(pose_rig_camera, rig_camera_id)
rig_camera_ids.append(rig_camera_id)
rig_cameras.append(rig_camera)
self.rig_cameras.append(rig_cameras)
rig_instances = []
for i in range(len(instances_positions)):
instance = []
for j in range(len(shots_ids_per_camera)):
instance.append(
(shots_ids_per_camera[j][i], rig_camera_ids[j]))
rig_instances.append(instance)
self.rig_instances.append(rig_instances)
self.instances_positions.append(instances_positions)
self.instances_rotations.append(instances_rotations)
return self
def add_rig_camera_sequence(
self,
cameras,
relative_positions,
relative_rotations,
start,
length,
height,
interval,
position_noise=None,
rotation_noise=None,
gps_noise=None,
):
default_noise_interval = 0.25 * interval
instances_positions, instances_rotations = sg.generate_cameras(
sg.samples_generator_interval(start, length, interval,
default_noise_interval),
self.generator,
height,
)
sg.perturb_points(instances_positions, position_noise)
sg.perturb_rotations(instances_rotations, rotation_noise)
shots_ids_per_camera = []
for rig_camera_p, rig_camera_r, camera in zip(relative_positions,
relative_rotations,
cameras):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rotations = []
positions = []
for instance_p, instance_r in zip(instances_positions,
instances_rotations):
pose_instance = pygeometry.Pose(instance_r)
pose_instance.set_origin(instance_p)
composed = pose_rig_camera.compose(pose_instance)
rotations.append(composed.rotation)
positions.append(composed.get_origin())
self.shot_rotations.append(rotations)
self.shot_positions.append(positions)
shift = sum(len(s) for s in shots_ids_per_camera)
shots_ids_per_camera.append(
[f"Shot {shift+i:04d}" for i in range(len(positions))])
self.cameras.append(camera)
self.shot_ids += shots_ids_per_camera
rig_camera_ids = []
rig_model = pymap.RigModel(f"RigModel {len(self.rig_models)}")
for i, (rig_camera_p, rig_camera_r) in enumerate(
zip(relative_positions, relative_rotations)):
pose_rig_camera = pygeometry.Pose(rig_camera_r)
pose_rig_camera.set_origin(rig_camera_p)
rig_camera_id = f"RigCamera {i}"
rig_camera = pymap.RigCamera(pose_rig_camera, rig_camera_id)
rig_model.add_rig_camera(rig_camera)
rig_camera_ids.append(rig_camera_id)
self.rig_models.append(rig_model)
rig_instances = []
for i in range(len(instances_positions)):
instance = []
for j in range(len(shots_ids_per_camera)):
instance.append(
(shots_ids_per_camera[j][i], rig_camera_ids[j]))
rig_instances.append(instance)
self.rig_instances.append(rig_instances)
self.instances_positions.append(instances_positions)
self.instances_rotations.append(instances_rotations)
return self
