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add get_real_cam_O_from_cam_L()

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hofee
2024-09-20 15:00:26 +08:00
parent 55684e86ba
commit fc700d0a5c
3 changed files with 21 additions and 13 deletions
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10
utils/data_load.py
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@@ -189,6 +189,16 @@ class DataLoadUtil:
cam_info["cam_to_world_R"] = cam_to_world_R
return cam_info
@staticmethod
def get_real_cam_O_from_cam_L(cam_L, cam_O_to_cam_L, display_table_as_world_space_origin=True):
nO_to_display_table_pose = cam_L.cpu().numpy() @ cam_O_to_cam_L
if display_table_as_world_space_origin:
display_table_to_world = np.eye(4)
display_table_to_world[:3, 3] = DataLoadUtil.DISPLAY_TABLE_POSITION
nO_to_world_pose = np.dot(display_table_to_world, nO_to_display_table_pose)
nO_to_world_pose = DataLoadUtil.cam_pose_transformation(nO_to_world_pose)
return nO_to_world_pose
@staticmethod
def get_target_point_cloud(depth, cam_intrinsic, cam_extrinsic, mask, target_mask_label=(0,255,0,255)):
h, w = depth.shape