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253
utils/pose.py
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253
utils/pose.py
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import numpy as np
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import torch
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import torch.nn.functional as F
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class PoseUtil:
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ROTATION = 1
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TRANSLATION = 2
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SCALE = 3
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@staticmethod
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def get_uniform_translation(trans_m_min, trans_m_max, trans_unit, debug=False):
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if isinstance(trans_m_min, list):
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x_min, y_min, z_min = trans_m_min
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x_max, y_max, z_max = trans_m_max
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else:
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x_min, y_min, z_min = trans_m_min, trans_m_min, trans_m_min
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x_max, y_max, z_max = trans_m_max, trans_m_max, trans_m_max
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x = np.random.uniform(x_min, x_max)
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y = np.random.uniform(y_min, y_max)
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z = np.random.uniform(z_min, z_max)
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translation = np.array([x, y, z])
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if trans_unit == "cm":
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translation = translation / 100
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if debug:
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print("uniform translation:", translation)
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return translation
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@staticmethod
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def get_uniform_rotation(rot_degree_min=0, rot_degree_max=180, debug=False):
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axis = np.random.randn(3)
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axis /= np.linalg.norm(axis)
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theta = np.random.uniform(
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rot_degree_min / 180 * np.pi, rot_degree_max / 180 * np.pi
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)
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K = np.array(
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[[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]], [-axis[1], axis[0], 0]]
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)
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R = np.eye(3) + np.sin(theta) * K + (1 - np.cos(theta)) * (K @ K)
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if debug:
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print("uniform rotation:", theta * 180 / np.pi)
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return R
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@staticmethod
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def get_uniform_pose(
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trans_min, trans_max, rot_min=0, rot_max=180, trans_unit="cm", debug=False
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):
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translation = PoseUtil.get_uniform_translation(
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trans_min, trans_max, trans_unit, debug
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)
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rotation = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
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pose = np.eye(4)
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pose[:3, :3] = rotation
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pose[:3, 3] = translation
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return pose
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@staticmethod
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def get_n_uniform_pose(
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trans_min,
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trans_max,
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rot_min=0,
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rot_max=180,
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n=1,
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trans_unit="cm",
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fix=None,
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contain_canonical=True,
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debug=False,
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):
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if fix == PoseUtil.ROTATION:
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translations = np.zeros((n, 3))
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for i in range(n):
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translations[i] = PoseUtil.get_uniform_translation(
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trans_min, trans_max, trans_unit, debug
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)
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if contain_canonical:
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translations[0] = np.zeros(3)
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rotations = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
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elif fix == PoseUtil.TRANSLATION:
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rotations = np.zeros((n, 3, 3))
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for i in range(n):
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rotations[i] = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
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if contain_canonical:
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rotations[0] = np.eye(3)
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translations = PoseUtil.get_uniform_translation(
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trans_min, trans_max, trans_unit, debug
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)
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else:
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translations = np.zeros((n, 3))
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rotations = np.zeros((n, 3, 3))
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for i in range(n):
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translations[i] = PoseUtil.get_uniform_translation(
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trans_min, trans_max, trans_unit, debug
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)
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for i in range(n):
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rotations[i] = PoseUtil.get_uniform_rotation(rot_min, rot_max, debug)
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if contain_canonical:
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translations[0] = np.zeros(3)
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rotations[0] = np.eye(3)
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pose = np.eye(4, 4, k=0)[np.newaxis, :].repeat(n, axis=0)
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pose[:, :3, :3] = rotations
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pose[:, :3, 3] = translations
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return pose
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@staticmethod
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def get_n_uniform_pose_batch(
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trans_min,
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trans_max,
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rot_min=0,
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rot_max=180,
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n=1,
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batch_size=1,
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trans_unit="cm",
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fix=None,
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contain_canonical=False,
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debug=False,
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):
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batch_poses = []
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for i in range(batch_size):
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pose = PoseUtil.get_n_uniform_pose(
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trans_min,
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trans_max,
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rot_min,
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rot_max,
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n,
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trans_unit,
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fix,
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contain_canonical,
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debug,
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)
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batch_poses.append(pose)
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pose_batch = np.stack(batch_poses, axis=0)
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return pose_batch
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@staticmethod
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def get_uniform_scale(scale_min, scale_max, debug=False):
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if isinstance(scale_min, list):
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x_min, y_min, z_min = scale_min
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x_max, y_max, z_max = scale_max
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else:
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x_min, y_min, z_min = scale_min, scale_min, scale_min
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x_max, y_max, z_max = scale_max, scale_max, scale_max
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x = np.random.uniform(x_min, x_max)
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y = np.random.uniform(y_min, y_max)
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z = np.random.uniform(z_min, z_max)
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scale = np.array([x, y, z])
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if debug:
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print("uniform scale:", scale)
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return scale
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@staticmethod
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def normalize_rotation(rotation, rotation_mode):
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if rotation_mode == "quat_wxyz" or rotation_mode == "quat_xyzw":
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rotation /= torch.norm(rotation, dim=-1, keepdim=True)
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elif rotation_mode == "rot_matrix":
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rot_matrix = PoseUtil.rotation_6d_to_matrix_tensor_batch(rotation)
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rotation[:, :3] = rot_matrix[:, 0, :]
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rotation[:, 3:6] = rot_matrix[:, 1, :]
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elif rotation_mode == "euler_xyz_sx_cx":
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rot_sin_theta = rotation[:, :3]
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rot_cos_theta = rotation[:, 3:6]
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theta = torch.atan2(rot_sin_theta, rot_cos_theta)
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rotation[:, :3] = torch.sin(theta)
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rotation[:, 3:6] = torch.cos(theta)
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elif rotation_mode == "euler_xyz":
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pass
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else:
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raise NotImplementedError
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return rotation
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@staticmethod
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def get_pose_dim(rot_mode):
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assert rot_mode in [
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"quat_wxyz",
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"quat_xyzw",
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"euler_xyz",
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"euler_xyz_sx_cx",
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"rot_matrix",
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], f"the rotation mode {rot_mode} is not supported!"
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if rot_mode == "quat_wxyz" or rot_mode == "quat_xyzw":
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pose_dim = 7
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elif rot_mode == "euler_xyz":
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pose_dim = 6
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elif rot_mode == "euler_xyz_sx_cx" or rot_mode == "rot_matrix":
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pose_dim = 9
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else:
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raise NotImplementedError
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return pose_dim
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@staticmethod
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def rotation_6d_to_matrix_tensor_batch(d6: torch.Tensor) -> torch.Tensor:
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a1, a2 = d6[..., :3], d6[..., 3:]
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b1 = F.normalize(a1, dim=-1)
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b2 = a2 - (b1 * a2).sum(-1, keepdim=True) * b1
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b2 = F.normalize(b2, dim=-1)
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b3 = torch.cross(b1, b2, dim=-1)
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return torch.stack((b1, b2, b3), dim=-2)
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@staticmethod
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def matrix_to_rotation_6d_tensor_batch(matrix: torch.Tensor) -> torch.Tensor:
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batch_dim = matrix.size()[:-2]
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return matrix[..., :2, :].clone().reshape(batch_dim + (6,))
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@staticmethod
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def rotation_6d_to_matrix_numpy(d6):
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a1, a2 = d6[:3], d6[3:]
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b1 = a1 / np.linalg.norm(a1)
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b2 = a2 - np.dot(b1, a2) * b1
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b2 = b2 / np.linalg.norm(b2)
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b3 = np.cross(b1, b2)
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return np.stack((b1, b2, b3), axis=-2)
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@staticmethod
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def matrix_to_rotation_6d_numpy(matrix):
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return np.copy(matrix[:2, :]).reshape((6,))
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@staticmethod
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def rotation_angle_distance(R1, R2):
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R = torch.matmul(R1, R2.transpose(1, 2))
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trace = torch.diagonal(R, dim1=1, dim2=2).sum(-1)
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angle = torch.acos(torch.clamp((trace - 1) / 2, -1.0, 1.0))/torch.pi*180
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return angle
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""" ------------ Debug ------------ """
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if __name__ == "__main__":
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for _ in range(1):
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PoseUtil.get_uniform_pose(
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trans_min=[-25, -25, 10],
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trans_max=[25, 25, 60],
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rot_min=0,
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rot_max=10,
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debug=True,
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)
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PoseUtil.get_uniform_scale(scale_min=0.25, scale_max=0.30, debug=True)
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PoseUtil.get_n_uniform_pose_batch(
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trans_min=[-25, -25, 10],
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trans_max=[25, 25, 60],
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rot_min=0,
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rot_max=10,
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batch_size=2,
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n=2,
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fix=PoseUtil.TRANSLATION,
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debug=True,
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)
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