def test_it_should_set_rotation_from_euler(self):
transform = Transform()
transform.set_rotation(1.0, 0.707, 3.1)
truth = np.array([[-0.7597, -0.0316, 0.6496, 0],
[-0.5236, -0.5626, -0.6398, 0],
[0.3856, -0.8262, 0.4108, 0],
[0, 0, 0, 1]])
np.testing.assert_almost_equal(transform.matrix, truth, 4)
def random_z_rotation(rgb, depth, pose, camera):
rotation = random.uniform(-180, 180)
rotation_matrix = Transform()
rotation_matrix.set_rotation(0, 0, math.radians(rotation))
pixel = center_pixel(pose, camera)
new_rgb = rotate_image(rgb, rotation, pixel[0])
new_depth = rotate_image(depth, rotation, pixel[0])
# treshold below 50 means we remove some interpolation noise, which cover small holes
mask = (new_depth >= 50).astype(np.uint8)[:, :, np.newaxis]
rgb_mask = np.all(new_rgb != 0, axis=2).astype(np.uint8)
kernel = np.array([[0, 1, 0], [1, 1, 1], [0, 1, 0]], np.uint8)
# erode rest of interpolation noise which will affect negatively future blendings
eroded_mask = cv2.erode(mask, kernel, iterations=2)
eroded_rgb_mask = cv2.erode(rgb_mask, kernel, iterations=2)
new_depth = new_depth * eroded_mask
new_rgb = new_rgb * eroded_rgb_mask[:, :, np.newaxis]
new_pose = combine_view_transform(pose, rotation_matrix)
return new_rgb, new_depth, new_pose