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Running
on
Zero
Running
on
Zero
| import numpy as np | |
| def rotation(num_poses, rotation_angle=360, radius=1.0, height=0.81): | |
| ''' | |
| Input: | |
| num_poses: number of poses | |
| rotation_angle: angle of rotation in degrees | |
| radius: radius of rotation | |
| height: height of the camera above the ground | |
| Output: | |
| poses: list of rotation matrices and translation vectors | |
| ''' | |
| poses = [] | |
| rotation_angle_rad = np.deg2rad(rotation_angle) | |
| angle_step = rotation_angle_rad / num_poses | |
| for i in range(num_poses): | |
| theta = i * angle_step | |
| # Rotation matrix | |
| R = np.array([ | |
| [np.cos(theta), 0, np.sin(theta)], | |
| [0, 1, 0], | |
| [-np.sin(theta), 0, np.cos(theta)] | |
| ]) | |
| # Translation vector | |
| t = np.array([0.01 * np.sin(theta), 0, height - 0.01 * np.cos(theta)]) | |
| # Combine rotation matrix and translation vector into RT matrix | |
| RT = np.hstack((R, t.reshape(-1, 1))) | |
| poses.append(RT) | |
| poses = np.stack(poses, axis=0) | |
| return poses | |
| def clockwise(angle, n_frames): | |
| # Convert angle to radians | |
| angle_rad = np.deg2rad(angle) | |
| # Determine the direction of rotation based on the sign of the angle | |
| if angle_rad < 0: | |
| clockwise = True | |
| angle_rad = -angle_rad # Make the angle positive for calculation | |
| else: | |
| clockwise = False | |
| # Generate rotation matrices for each frame | |
| rotation_matrices = [] | |
| for i in range(n_frames): | |
| theta = i * angle_rad / (n_frames - 1) | |
| if clockwise: | |
| theta = -theta | |
| R = np.array([ | |
| [np.cos(theta), -np.sin(theta), 0], | |
| [np.sin(theta), np.cos(theta), 0], | |
| [0, 0, 1] | |
| ]) | |
| rotation_matrices.append(R) | |
| # Generate translation vectors (assuming no translation) | |
| translation_vectors = [np.zeros((3, 1)) for _ in range(n_frames)] | |
| # Combine rotation matrices and translation vectors into RT matrices | |
| RT_matrices = [] | |
| for R, T in zip(rotation_matrices, translation_vectors): | |
| RT = np.hstack((R, T)) | |
| RT_matrices.append(RT) | |
| RT_matrices = np.stack(RT_matrices, axis=0) | |
| return RT_matrices | |
| def pan_and_zoom(T, speed, base_T=1.5, n=16): | |
| RT = [] | |
| for i in range(n): | |
| R = np.array([[1.0, 0.0, 0.0], | |
| [0, 1.0, 0.0], | |
| [0.0, 0.0, 1.0]]) | |
| _T=(i/n)*speed*base_T*(T[i]) | |
| _RT = np.concatenate([R,_T], axis=1) | |
| RT.append(_RT) | |
| RT = np.stack(RT) | |
| return RT |