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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", "Custom 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":[3.,0.,0.]}, | |
"Pan Right": { "angle":[0., 0., 0.], "T": [-3.,0.,0.]}, | |
"Zoom In": { "angle":[0., 0., 0.], "T": [0.,0.,-4.]}, | |
"Zoom Out": { "angle":[0., 0., 0.], "T": [0.,0.,4.]}, | |
"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, camera_args, num_frames=16, width=256, height=256): | |
speed = camera_dict['speed'] | |
motion_list = camera_dict['motion'] | |
mode = camera_dict['mode'] | |
if mode == 'Customized Mode 3: RAW Camera Poses': | |
# print(camera_args) | |
RT = camera_args.strip().split() | |
assert(len(RT) == num_frames*12), "The number of camera poses should be equal to the number of frames" | |
RT = [float(x) for x in RT] | |
RT = np.array(RT).reshape(-1, 3, 4) | |
RT[:, :, -1] = RT[:, :, -1] * np.array([1.5, 1, 1.3]) * speed | |
return RT | |
if camera_dict['complex'] is not None: | |
with open(COMPLEX_CAMERA[camera_dict['complex']]) as f: | |
RT = json.load(f) # [16, 12] | |
if num_frames < len(RT): | |
half = (len(RT) - num_frames) // 2 | |
RT = RT[half:half+num_frames] | |
RT = np.array(RT).reshape(-1, 3, 4) | |
RT[:, :, -1] = RT[:, :, -1] * np.array([1.5, 1, 1.3]) * speed | |
return RT | |
half_num_frames = num_frames//2 | |
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, num_frames) | |
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, num_frames) | |
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, half_num_frames) | |
angle = np.array(CAMERA[motion_list[1]]["angle"]) | |
T = np.array(CAMERA[motion_list[1]]["T"]) | |
RT_1 = get_camera_motion(angle, T, speed, num_frames-half_num_frames) | |
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, num_frames) | |
return RT | |