72 lines
2.5 KiB
Python
72 lines
2.5 KiB
Python
import numpy as np
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import json
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import copy
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import open3d as o3d
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def get_tf_cams(cam_dict, target_radius=1.):
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cam_centers = []
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for im_name in cam_dict:
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W2C = np.array(cam_dict[im_name]['W2C']).reshape((4, 4))
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C2W = np.linalg.inv(W2C)
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cam_centers.append(C2W[:3, 3:4])
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def get_center_and_diag(cam_centers):
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cam_centers = np.hstack(cam_centers)
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avg_cam_center = np.mean(cam_centers, axis=1, keepdims=True)
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center = avg_cam_center
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dist = np.linalg.norm(cam_centers - center, axis=0, keepdims=True)
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diagonal = np.max(dist)
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return center.flatten(), diagonal
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center, diagonal = get_center_and_diag(cam_centers)
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radius = diagonal * 1.1
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translate = -center
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scale = target_radius / radius
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return translate, scale
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def normalize_cam_dict(in_cam_dict_file, out_cam_dict_file, target_radius=1., in_geometry_file=None, out_geometry_file=None):
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with open(in_cam_dict_file) as fp:
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in_cam_dict = json.load(fp)
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translate, scale = get_tf_cams(in_cam_dict, target_radius=target_radius)
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if in_geometry_file is not None and out_geometry_file is not None:
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# check this page if you encounter issue in file io: http://www.open3d.org/docs/0.9.0/tutorial/Basic/file_io.html
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geometry = o3d.io.read_triangle_mesh(in_geometry_file)
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tf_translate = np.eye(4)
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tf_translate[:3, 3:4] = translate
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tf_scale = np.eye(4)
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tf_scale[:3, :3] *= scale
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tf = np.matmul(tf_scale, tf_translate)
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geometry_norm = geometry.transform(tf)
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o3d.io.write_triangle_mesh(out_geometry_file, geometry_norm)
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mesh_norm = mesh.transform(tf)
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def transform_pose(W2C, translate, scale):
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C2W = np.linalg.inv(W2C)
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cam_center = C2W[:3, 3]
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cam_center = (cam_center + translate) * scale
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C2W[:3, 3] = cam_center
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return np.linalg.inv(C2W)
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out_cam_dict = copy.deepcopy(in_cam_dict)
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for img_name in out_cam_dict:
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W2C = np.array(out_cam_dict[img_name]['W2C']).reshape((4, 4))
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W2C = transform_pose(W2C, translate, scale)
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assert(np.isclose(np.linalg.det(W2C[:3, :3]), 1.))
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out_cam_dict[img_name]['W2C'] = list(W2C.flatten())
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with open(out_cam_dict_file, 'w') as fp:
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json.dump(out_cam_dict, fp, indent=2, sort_keys=True)
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if __name__ == '__main__':
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in_cam_dict_file = ''
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out_cam_dict_file = ''
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normalize_cam_dict(in_cam_dict_file, out_cam_dict_file, target_radius=1.)
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