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'''
BSD 2-Clause License
Copyright (c) 2020, the NeRF++ authors
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
import numpy as np
try:
import open3d as o3d
except ImportError:
pass
def frustums2lineset(frustums):
N = len(frustums)
merged_points = np.zeros((N*5, 3)) # 5 vertices per frustum
merged_lines = np.zeros((N*8, 2)) # 8 lines per frustum
merged_colors = np.zeros((N*8, 3)) # each line gets a color
for i, (frustum_points, frustum_lines, frustum_colors) in enumerate(frustums):
merged_points[i*5:(i+1)*5, :] = frustum_points
merged_lines[i*8:(i+1)*8, :] = frustum_lines + i*5
merged_colors[i*8:(i+1)*8, :] = frustum_colors
lineset = o3d.geometry.LineSet()
lineset.points = o3d.utility.Vector3dVector(merged_points)
lineset.lines = o3d.utility.Vector2iVector(merged_lines)
lineset.colors = o3d.utility.Vector3dVector(merged_colors)
return lineset
def get_camera_frustum_opengl_coord(H, W, fx, fy, W2C, frustum_length=0.5, color=np.array([0., 1., 0.])):
'''X right, Y up, Z backward to the observer.
:param H, W:
:param fx, fy:
:param W2C: (4, 4) matrix
:param frustum_length: scalar: scale the frustum
:param color: (3,) list, frustum line color
:return:
frustum_points: (5, 3) frustum points in world coordinate
frustum_lines: (8, 2) 8 lines connect 5 frustum points, specified in line start/end index.
frustum_colors: (8, 3) colors for 8 lines.
'''
hfov = np.rad2deg(np.arctan(W / 2. / fx) * 2.)
vfov = np.rad2deg(np.arctan(H / 2. / fy) * 2.)
half_w = frustum_length * np.tan(np.deg2rad(hfov / 2.))
half_h = frustum_length * np.tan(np.deg2rad(vfov / 2.))
# build view frustum in camera space in homogenous coordinate (5, 4)
frustum_points = np.array([[0., 0., 0., 1.0], # frustum origin
[-half_w, half_h, -frustum_length, 1.0], # top-left image corner
[half_w, half_h, -frustum_length, 1.0], # top-right image corner
[half_w, -half_h, -frustum_length, 1.0], # bottom-right image corner
[-half_w, -half_h, -frustum_length, 1.0]]) # bottom-left image corner
frustum_lines = np.array([[0, i] for i in range(1, 5)] + [[i, (i+1)] for i in range(1, 4)] + [[4, 1]]) # (8, 2)
frustum_colors = np.tile(color.reshape((1, 3)), (frustum_lines.shape[0], 1)) # (8, 3)
# transform view frustum from camera space to world space
C2W = np.linalg.inv(W2C)
frustum_points = np.matmul(C2W, frustum_points.T).T # (5, 4)
frustum_points = frustum_points[:, :3] / frustum_points[:, 3:4] # (5, 3) remove homogenous coordinate
return frustum_points, frustum_lines, frustum_colors
def get_camera_frustum_opencv_coord(H, W, fx, fy, W2C, frustum_length=0.5, color=np.array([0., 1., 0.])):
'''X right, Y up, Z backward to the observer.
:param H, W:
:param fx, fy:
:param W2C: (4, 4) matrix
:param frustum_length: scalar: scale the frustum
:param color: (3,) list, frustum line color
:return:
frustum_points: (5, 3) frustum points in world coordinate
frustum_lines: (8, 2) 8 lines connect 5 frustum points, specified in line start/end index.
frustum_colors: (8, 3) colors for 8 lines.
'''
hfov = np.rad2deg(np.arctan(W / 2. / fx) * 2.)
vfov = np.rad2deg(np.arctan(H / 2. / fy) * 2.)
half_w = frustum_length * np.tan(np.deg2rad(hfov / 2.))
half_h = frustum_length * np.tan(np.deg2rad(vfov / 2.))
# build view frustum in camera space in homogenous coordinate (5, 4)
frustum_points = np.array([[0., 0., 0., 1.0], # frustum origin
[-half_w, -half_h, frustum_length, 1.0], # top-left image corner
[ half_w, -half_h, frustum_length, 1.0], # top-right image corner
[ half_w, half_h, frustum_length, 1.0], # bottom-right image corner
[-half_w, +half_h, frustum_length, 1.0]]) # bottom-left image corner
frustum_lines = np.array([[0, i] for i in range(1, 5)] + [[i, (i+1)] for i in range(1, 4)] + [[4, 1]]) # (8, 2)
frustum_colors = np.tile(color.reshape((1, 3)), (frustum_lines.shape[0], 1)) # (8, 3)
# transform view frustum from camera space to world space
C2W = np.linalg.inv(W2C)
frustum_points = np.matmul(C2W, frustum_points.T).T # (5, 4)
frustum_points = frustum_points[:, :3] / frustum_points[:, 3:4] # (5, 3) remove homogenous coordinate
return frustum_points, frustum_lines, frustum_colors
def draw_camera_frustum_geometry(c2ws, H, W, fx=600.0, fy=600.0, frustum_length=0.5,
color=np.array([29.0, 53.0, 87.0])/255.0, draw_now=False, coord='opengl'):
'''
:param c2ws: (N, 4, 4) np.array
:param H: scalar
:param W: scalar
:param fx: scalar
:param fy: scalar
:param frustum_length: scalar
:param color: None or (N, 3) or (3, ) or (1, 3) or (3, 1) np array
:param draw_now: True/False call o3d vis now
:return:
'''
N = c2ws.shape[0]
num_ele = color.flatten().shape[0]
if num_ele == 3:
color = color.reshape(1, 3)
color = np.tile(color, (N, 1))
frustum_list = []
if coord == 'opengl':
for i in range(N):
frustum_list.append(get_camera_frustum_opengl_coord(H, W, fx, fy,
W2C=np.linalg.inv(c2ws[i]),
frustum_length=frustum_length,
color=color[i]))
elif coord == 'opencv':
for i in range(N):
frustum_list.append(get_camera_frustum_opencv_coord(H, W, fx, fy,
W2C=np.linalg.inv(c2ws[i]),
frustum_length=frustum_length,
color=color[i]))
else:
print('Undefined coordinate system. Exit')
exit()
frustums_geometry = frustums2lineset(frustum_list)
if draw_now:
o3d.visualization.draw_geometries([frustums_geometry])
return frustums_geometry # this is an o3d geometry object.
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