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| import copy | |
| # import plotly.express as px | |
| # import plotly.graph_objects as go | |
| import json | |
| import numpy as np | |
| CAMERA_MOTION_MODE = ["Basic Camera Poses", "Provided Complex Camera Poses", "Customize Camera Poses"] | |
| CAMERA = { | |
| # T | |
| "base_T_norm": 1.5, | |
| "base_angle": np.pi/3, | |
| "Pan Up": { "angle":[0., 0., 0.], "T":[0., 1., 0.]}, | |
| "Pan Down": { "angle":[0., 0., 0.], "T":[0.,-1.,0.]}, | |
| "Pan Left": { "angle":[0., 0., 0.], "T":[1.,0.,0.]}, | |
| "Pan Right": { "angle":[0., 0., 0.], "T": [-1.,0.,0.]}, | |
| "Zoom In": { "angle":[0., 0., 0.], "T": [0.,0.,-2.]}, | |
| "Zoom Out": { "angle":[0., 0., 0.], "T": [0.,0.,2.]}, | |
| "ACW": { "angle": [0., 0., 1.], "T":[0., 0., 0.]}, | |
| "CW": { "angle": [0., 0., -1.], "T":[0., 0., 0.]}, | |
| } | |
| COMPLEX_CAMERA = { | |
| "Pose_1": "examples/camera_poses/test_camera_1424acd0007d40b5.json", | |
| "Pose_2": "examples/camera_poses/test_camera_d971457c81bca597.json", | |
| "Pose_3": "examples/camera_poses/test_camera_Round-ZoomIn.json", | |
| "Pose_4": "examples/camera_poses/test_camera_Round-RI_90.json", | |
| "Pose_5": "examples/camera_poses/test_camera_Round-RI_120.json", | |
| "Pose_6": "examples/camera_poses/test_camera_018f7907401f2fef.json", | |
| "Pose_7": "examples/camera_poses/test_camera_088b93f15ca8745d.json", | |
| "Pose_8": "examples/camera_poses/test_camera_b133a504fc90a2d1.json", | |
| } | |
| def compute_R_form_rad_angle(angles): | |
| theta_x, theta_y, theta_z = angles | |
| Rx = np.array([[1, 0, 0], | |
| [0, np.cos(theta_x), -np.sin(theta_x)], | |
| [0, np.sin(theta_x), np.cos(theta_x)]]) | |
| Ry = np.array([[np.cos(theta_y), 0, np.sin(theta_y)], | |
| [0, 1, 0], | |
| [-np.sin(theta_y), 0, np.cos(theta_y)]]) | |
| Rz = np.array([[np.cos(theta_z), -np.sin(theta_z), 0], | |
| [np.sin(theta_z), np.cos(theta_z), 0], | |
| [0, 0, 1]]) | |
| # 计算相机外参的旋转矩阵 | |
| R = np.dot(Rz, np.dot(Ry, Rx)) | |
| return R | |
| def get_camera_motion(angle, T, speed, n=16): | |
| RT = [] | |
| for i in range(n): | |
| _angle = (i/n)*speed*(CAMERA["base_angle"])*angle | |
| R = compute_R_form_rad_angle(_angle) | |
| # _T = (i/n)*speed*(T.reshape(3,1)) | |
| _T=(i/n)*speed*(CAMERA["base_T_norm"])*(T.reshape(3,1)) | |
| _RT = np.concatenate([R,_T], axis=1) | |
| RT.append(_RT) | |
| RT = np.stack(RT) | |
| return RT | |
| def create_relative(RT_list, K_1=4.7, dataset="syn"): | |
| RT = copy.deepcopy(RT_list[0]) | |
| R_inv = RT[:,:3].T | |
| T = RT[:,-1] | |
| temp = [] | |
| for _RT in RT_list: | |
| _RT[:,:3] = np.dot(_RT[:,:3], R_inv) | |
| _RT[:,-1] = _RT[:,-1] - np.dot(_RT[:,:3], T) | |
| temp.append(_RT) | |
| RT_list = temp | |
| return RT_list | |
| def combine_camera_motion(RT_0, RT_1): | |
| RT = copy.deepcopy(RT_0[-1]) | |
| R = RT[:,:3] | |
| R_inv = RT[:,:3].T | |
| T = RT[:,-1] | |
| temp = [] | |
| for _RT in RT_1: | |
| _RT[:,:3] = np.dot(_RT[:,:3], R) | |
| _RT[:,-1] = _RT[:,-1] + np.dot(np.dot(_RT[:,:3], R_inv), T) | |
| temp.append(_RT) | |
| RT_1 = np.stack(temp) | |
| return np.concatenate([RT_0, RT_1], axis=0) | |
| def process_camera(camera_dict): | |
| # "First A then B", "Both A and B", "Custom" | |
| if camera_dict['complex'] is not None: | |
| with open(COMPLEX_CAMERA[camera_dict['complex']]) as f: | |
| RT = json.load(f) # [16, 12] | |
| RT = np.array(RT).reshape(-1, 3, 4) | |
| print(RT.shape) | |
| return RT | |
| motion_list = camera_dict['motion'] | |
| mode = camera_dict['mode'] | |
| speed = camera_dict['speed'] | |
| print(len(motion_list)) | |
| if len(motion_list) == 0: | |
| angle = np.array([0,0,0]) | |
| T = np.array([0,0,0]) | |
| RT = get_camera_motion(angle, T, speed, 16) | |
| elif len(motion_list) == 1: | |
| angle = np.array(CAMERA[motion_list[0]]["angle"]) | |
| T = np.array(CAMERA[motion_list[0]]["T"]) | |
| print(angle, T) | |
| RT = get_camera_motion(angle, T, speed, 16) | |
| elif len(motion_list) == 2: | |
| if mode == "Customized Mode 1: First A then B": | |
| angle = np.array(CAMERA[motion_list[0]]["angle"]) | |
| T = np.array(CAMERA[motion_list[0]]["T"]) | |
| RT_0 = get_camera_motion(angle, T, speed, 8) | |
| angle = np.array(CAMERA[motion_list[1]]["angle"]) | |
| T = np.array(CAMERA[motion_list[1]]["T"]) | |
| RT_1 = get_camera_motion(angle, T, speed, 8) | |
| RT = combine_camera_motion(RT_0, RT_1) | |
| elif mode == "Customized Mode 2: Both A and B": | |
| angle = np.array(CAMERA[motion_list[0]]["angle"]) + np.array(CAMERA[motion_list[1]]["angle"]) | |
| T = np.array(CAMERA[motion_list[0]]["T"]) + np.array(CAMERA[motion_list[1]]["T"]) | |
| RT = get_camera_motion(angle, T, speed, 16) | |
| # return RT.reshape(-1, 12) | |
| return RT | |