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78 lines
2.6 KiB
Python
78 lines
2.6 KiB
Python
# Copyright 2022 The Plenoptix Team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import numpy as np
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import torch
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from pyrad.cameras.cameras import get_camera, get_intrinsics_from_intrinsics_matrix
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def get_chunks(lst, num_chunks=None, size_of_chunk=None):
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"""Returns list of n elements, constaining a sublist."""
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if num_chunks:
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assert not size_of_chunk
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size = len(lst) // num_chunks
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if size_of_chunk:
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assert not num_chunks
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size = size_of_chunk
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chunks = []
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for i in range(0, len(lst), size):
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chunks.append(lst[i : i + size])
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return chunks
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def get_intrinsics_matrix_and_camera_to_world_h(camera_object, image_height):
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"""Returns the camera intrinsics matrix and the camera to world homogeneous matrix.
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Args:
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camera_object: a Camera object.
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image_size: the size of the image (height, width)
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"""
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# intrinsics
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fov = camera_object["fov"]
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aspect = camera_object["aspect"]
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image_width = aspect * image_height
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pp_w = image_width / 2.0
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pp_h = image_height / 2.0
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focal_length = pp_h / np.tan(fov * (np.pi / 180.0) / 2.0)
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intrinsics_matrix = torch.tensor([[focal_length, 0, pp_w], [0, focal_length, pp_h], [0, 0, 1]]).float()
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# extrinsics
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camera_to_world_h = torch.tensor(get_chunks(camera_object["matrix"], size_of_chunk=4)).T.float()
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camera_to_world_h = torch.stack(
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[
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camera_to_world_h[0, :],
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camera_to_world_h[2, :],
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camera_to_world_h[1, :],
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camera_to_world_h[3, :],
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],
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dim=0,
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)
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return intrinsics_matrix, camera_to_world_h
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def get_camera_from_vis(vis, name="/Cameras/Main Camera", image_height=100):
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data = vis[name].get_object()
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if data is None:
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return None
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camera_object = data["object"]["object"]
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intrinsics_matrix, camera_to_world_h = get_intrinsics_matrix_and_camera_to_world_h(
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camera_object, image_height=image_height
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)
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camera_to_world = camera_to_world_h[:3, :]
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intrinsics = get_intrinsics_from_intrinsics_matrix(intrinsics_matrix)
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camera = get_camera(intrinsics, camera_to_world)
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return camera
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