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define display table as world space origin

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hofee
2024-09-19 11:29:43 +00:00
parent 8d5d6d5df4
commit bb75372f7e
4 changed files with 34 additions and 17 deletions
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13
utils/data_load.py
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@@ -6,7 +6,7 @@ import trimesh
from utils.pts import PtsUtil
class DataLoadUtil:
DISPLAY_TABLE_POSITION = np.asarray([0,0,0.85])
@staticmethod
def get_path(root, scene_name, frame_idx):
path = os.path.join(root, scene_name, f"{frame_idx}")
@@ -160,12 +160,16 @@ class DataLoadUtil:
return cam_pose_after
@staticmethod
def load_cam_info(path, binocular=False):
def load_cam_info(path, binocular=False, display_table_as_world_space_origin=True):
camera_params_path = os.path.join(os.path.dirname(path), "camera_params", os.path.basename(path) + ".json")
with open(camera_params_path, 'r') as f:
label_data = json.load(f)
cam_to_world = np.asarray(label_data["extrinsic"])
cam_to_world = DataLoadUtil.cam_pose_transformation(cam_to_world)
world_to_display_table = np.eye(4)
world_to_display_table[:3, 3] = - DataLoadUtil.DISPLAY_TABLE_POSITION
if display_table_as_world_space_origin:
cam_to_world = np.dot(world_to_display_table, cam_to_world)
cam_intrinsic = np.asarray(label_data["intrinsic"])
cam_info = {
"cam_to_world": cam_to_world,
@@ -176,10 +180,13 @@ class DataLoadUtil:
if binocular:
cam_to_world_R = np.asarray(label_data["extrinsic_R"])
cam_to_world_R = DataLoadUtil.cam_pose_transformation(cam_to_world_R)
cam_info["cam_to_world_R"] = cam_to_world_R
cam_to_world_O = np.asarray(label_data["extrinsic_cam_object"])
cam_to_world_O = DataLoadUtil.cam_pose_transformation(cam_to_world_O)
if display_table_as_world_space_origin:
cam_to_world_O = np.dot(world_to_display_table, cam_to_world_O)
cam_to_world_R = np.dot(world_to_display_table, cam_to_world_R)
cam_info["cam_to_world_O"] = cam_to_world_O
cam_info["cam_to_world_R"] = cam_to_world_R
return cam_info
@staticmethod