add min_cam_table_included_degree and random_view

pose.py

@@ -0,0 +1,151 @@
+import numpy as np
+
+class PoseUtil:
+    ROTATION = 1
+    TRANSLATION = 2
+    SCALE = 3
+
+    @staticmethod
+    def get_uniform_translation(trans_m_min, trans_m_max, trans_unit, debug=False):
+        if isinstance(trans_m_min, list):
+            x_min, y_min, z_min = trans_m_min
+            x_max, y_max, z_max = trans_m_max
+        else:
+            x_min, y_min, z_min = trans_m_min, trans_m_min, trans_m_min
+            x_max, y_max, z_max = trans_m_max, trans_m_max, trans_m_max
+
+        x = np.random.uniform(x_min, x_max)
+        y = np.random.uniform(y_min, y_max)
+        z = np.random.uniform(z_min, z_max)
+        translation = np.array([x, y, z])
+        if trans_unit == "cm":
+            translation = translation / 100
+        if debug:
+            print("uniform translation:", translation)
+        return translation
+
+    @staticmethod
+    def get_uniform_rotation(rot_degree_min=0, rot_degree_max=180, debug=False):
+        axis = np.random.randn(3)
+        axis /= np.linalg.norm(axis)
+        theta = np.random.uniform(
+            rot_degree_min / 180 * np.pi, rot_degree_max / 180 * np.pi
+        )
+
+        K = np.array(
+            [[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]], [-axis[1], axis[0], 0]]
+        )
+        R = np.eye(3) + np.sin(theta) * K + (1 - np.cos(theta)) * (K @ K)
+        if debug:
+            print("uniform rotation:", theta * 180 / np.pi)
+        return R
+
+    @staticmethod
+    def get_uniform_pose(
+        trans_min, trans_max, rot_min=0, rot_max=180, trans_unit="cm", debug=False
+    ):
+        translation = PoseUtil.get_uniform_translation(
+            trans_min, trans_max, trans_unit, debug
+        )
+        rotation = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
+        pose = np.eye(4)
+        pose[:3, :3] = rotation
+        pose[:3, 3] = translation
+        return pose
+
+    @staticmethod
+    def get_n_uniform_pose(
+        trans_min,
+        trans_max,
+        rot_min=0,
+        rot_max=180,
+        n=1,
+        trans_unit="cm",
+        fix=None,
+        contain_canonical=True,
+        debug=False,
+    ):
+        if fix == PoseUtil.ROTATION:
+            translations = np.zeros((n, 3))
+            for i in range(n):
+                translations[i] = PoseUtil.get_uniform_translation(
+                    trans_min, trans_max, trans_unit, debug
+                )
+            if contain_canonical:
+                translations[0] = np.zeros(3)
+            rotations = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
+        elif fix == PoseUtil.TRANSLATION:
+            rotations = np.zeros((n, 3, 3))
+            for i in range(n):
+                rotations[i] = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
+            if contain_canonical:
+                rotations[0] = np.eye(3)
+            translations = PoseUtil.get_uniform_translation(
+                trans_min, trans_max, trans_unit, debug
+            )
+        else:
+            translations = np.zeros((n, 3))
+            rotations = np.zeros((n, 3, 3))
+            for i in range(n):
+                translations[i] = PoseUtil.get_uniform_translation(
+                    trans_min, trans_max, trans_unit, debug
+                )
+            for i in range(n):
+                rotations[i] = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
+            if contain_canonical:
+                translations[0] = np.zeros(3)
+                rotations[0] = np.eye(3)
+
+        pose = np.eye(4, 4, k=0)[np.newaxis, :].repeat(n, axis=0)
+        pose[:, :3, :3] = rotations
+        pose[:, :3, 3] = translations
+
+        return pose
+
+    @staticmethod
+    def get_n_uniform_pose_batch(
+        trans_min,
+        trans_max,
+        rot_min=0,
+        rot_max=180,
+        n=1,
+        batch_size=1,
+        trans_unit="cm",
+        fix=None,
+        contain_canonical=False,
+        debug=False,
+    ):
+
+        batch_poses = []
+        for i in range(batch_size):
+            pose = PoseUtil.get_n_uniform_pose(
+                trans_min,
+                trans_max,
+                rot_min,
+                rot_max,
+                n,
+                trans_unit,
+                fix,
+                contain_canonical,
+                debug,
+            )
+            batch_poses.append(pose)
+        pose_batch = np.stack(batch_poses, axis=0)
+        return pose_batch
+
+    @staticmethod
+    def get_uniform_scale(scale_min, scale_max, debug=False):
+        if isinstance(scale_min, list):
+            x_min, y_min, z_min = scale_min
+            x_max, y_max, z_max = scale_max
+        else:
+            x_min, y_min, z_min = scale_min, scale_min, scale_min
+            x_max, y_max, z_max = scale_max, scale_max, scale_max
+
+        x = np.random.uniform(x_min, x_max)
+        y = np.random.uniform(y_min, y_max)
+        z = np.random.uniform(z_min, z_max)
+        scale = np.array([x, y, z])
+        if debug:
+            print("uniform scale:", scale)
+        return scale