def set_poses(self, R, t):
self.F = R.shape[0]
self.Rs = R.astype(np.float32)
self.ts = t.astype(np.float32)
self.Cs = Geom.global_to_local(R, t)[1].astype(np.float32)
if len(self.frame_range) == 0:
self.frame_range = zeros((self.F, 2), np.uint32)
def apply_bounding_boxes(self, frames, bboxes):
tw = Geom.global_to_local(self.Rs, self.ts)[1]
center = tw.mean(axis=0)
size = 5.0 * np.abs(tw - center).max(axis=0)
# center = np.r_[0.0, 0.0, 1.0]
# size = np.r_[1.0, 1.0, 1.0]
bbox_min, bbox_max = Geom.frustrum_bounding_box(self.Rs,
self.ts,
self.cam,
frames,
bboxes,
center=center,
size=size,
res=100)
print("BBOX:", bbox_min, bbox_max)
self.bbox_min = bbox_min
self.bbox_max = bbox_max