wzhouxiff commited on
Commit
d5f3775
·
1 Parent(s): 5b1668b

rescale=0.0 if use camera pose

Browse files
Files changed (2) hide show
  1. app.py +1 -1
  2. objctrl_2_5d/utils/ui_utils.py +14 -5
app.py CHANGED
@@ -680,7 +680,7 @@ with gr.Blocks() as demo:
680
  get_camera_pose_button.click(
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  get_camera_pose(CAMERA_MODE),
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  [camera_option, selected_points, depth, mask, rescale, angle, Tx, Ty, Tz, speed],
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- [camera_pose, camera_pose_vis]
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  )
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  generated_button.click(
 
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  get_camera_pose_button.click(
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  get_camera_pose(CAMERA_MODE),
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  [camera_option, selected_points, depth, mask, rescale, angle, Tx, Ty, Tz, speed],
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+ [camera_pose, camera_pose_vis, rescale]
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  )
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  generated_button.click(
objctrl_2_5d/utils/ui_utils.py CHANGED
@@ -119,7 +119,11 @@ def traj2cam(traj, depth, rescale):
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  center_h_margin, center_w_margin = center_margin, center_margin
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  depth_center = np.mean(depth[height//2-center_h_margin:height//2+center_h_margin, width//2-center_w_margin:width//2+center_w_margin])
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  depth_rescale = round(depth_scale_ * rescale / depth_center, 2)
 
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  r_depth = depth * depth_rescale
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  zc = []
@@ -144,7 +148,7 @@ def traj2cam(traj, depth, rescale):
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  RTs = traj_w2c[:, :3]
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  fig = vis_camera_rescale(RTs)
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- return RTs, fig
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  def get_rotate_cam(angle, depth):
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  # mean_depth = np.mean(depth * mask)
@@ -188,12 +192,17 @@ def get_translate_cam(Tx, Ty, Tz, depth, mask, speed):
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  def get_camera_pose(camera_mode):
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  def trigger_camera_pose(camera_option, selected_points, depth, mask, rescale, angle, Tx, Ty, Tz, speed):
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  if camera_option == camera_mode[0]: # traj2cam
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- return traj2cam(selected_points, depth, rescale)
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  elif camera_option == camera_mode[1]: # rotate
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- return get_rotate_cam(angle, depth)
 
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  elif camera_option == camera_mode[2]: # clockwise
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- return get_clockwise_cam(angle, depth, mask)
 
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  elif camera_option == camera_mode[3]: # translate
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- return get_translate_cam(Tx, Ty, Tz, depth, mask, speed)
 
 
 
198
 
199
  return trigger_camera_pose
 
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  center_h_margin, center_w_margin = center_margin, center_margin
120
  depth_center = np.mean(depth[height//2-center_h_margin:height//2+center_h_margin, width//2-center_w_margin:width//2+center_w_margin])
121
 
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+ if rescale == 0:
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+ rescale = 1
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+
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  depth_rescale = round(depth_scale_ * rescale / depth_center, 2)
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+
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  r_depth = depth * depth_rescale
128
 
129
  zc = []
 
148
  RTs = traj_w2c[:, :3]
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  fig = vis_camera_rescale(RTs)
150
 
151
+ return RTs, fig, rescale
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153
  def get_rotate_cam(angle, depth):
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  # mean_depth = np.mean(depth * mask)
 
192
  def get_camera_pose(camera_mode):
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  def trigger_camera_pose(camera_option, selected_points, depth, mask, rescale, angle, Tx, Ty, Tz, speed):
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  if camera_option == camera_mode[0]: # traj2cam
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+ RTs, fig, rescale = traj2cam(selected_points, depth, rescale)
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  elif camera_option == camera_mode[1]: # rotate
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+ RTs, fig = get_rotate_cam(angle, depth)
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+ rescale = 0.0
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  elif camera_option == camera_mode[2]: # clockwise
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+ RTs, fig = get_clockwise_cam(angle, depth, mask)
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+ rescale = 0.0
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  elif camera_option == camera_mode[3]: # translate
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+ RTs, fig = get_translate_cam(Tx, Ty, Tz, depth, mask, speed)
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+ rescale = 0.0
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+
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+ return RTs, fig, rescale
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  return trigger_camera_pose