File size: 2,511 Bytes
ba96580 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 |
"""Modified from https://github.com/chaojie/ComfyUI-CameraCtrl-Wrapper/blob/main/camera_utils.py
"""
import copy
import numpy as np
CAMERA = {
# T
"base_T_norm": 1.5,
"base_angle": np.pi/3,
"Static": { "angle":[0., 0., 0.], "T":[0., 0., 0.]},
"Pan Up": { "angle":[0., 0., 0.], "T":[0., 1., 0.]},
"Pan Down": { "angle":[0., 0., 0.], "T":[0.,-1.,0.]},
"Pan Left": { "angle":[0., 0., 0.], "T":[1.,0.,0.]},
"Pan Right": { "angle":[0., 0., 0.], "T": [-1.,0.,0.]},
"Zoom In": { "angle":[0., 0., 0.], "T": [0.,0.,-2.]},
"Zoom Out": { "angle":[0., 0., 0.], "T": [0.,0.,2.]},
"ACW": { "angle": [0., 0., 1.], "T":[0., 0., 0.]},
"CW": { "angle": [0., 0., -1.], "T":[0., 0., 0.]},
}
def compute_R_form_rad_angle(angles):
theta_x, theta_y, theta_z = angles
Rx = np.array([[1, 0, 0],
[0, np.cos(theta_x), -np.sin(theta_x)],
[0, np.sin(theta_x), np.cos(theta_x)]])
Ry = np.array([[np.cos(theta_y), 0, np.sin(theta_y)],
[0, 1, 0],
[-np.sin(theta_y), 0, np.cos(theta_y)]])
Rz = np.array([[np.cos(theta_z), -np.sin(theta_z), 0],
[np.sin(theta_z), np.cos(theta_z), 0],
[0, 0, 1]])
# 计算相机外参的旋转矩阵
R = np.dot(Rz, np.dot(Ry, Rx))
return R
def get_camera_motion(angle, T, speed, n=16):
RT = []
for i in range(n):
_angle = (i/n)*speed*(CAMERA["base_angle"])*angle
R = compute_R_form_rad_angle(_angle)
# _T = (i/n)*speed*(T.reshape(3,1))
_T=(i/n)*speed*(CAMERA["base_T_norm"])*(T.reshape(3,1))
_RT = np.concatenate([R,_T], axis=1)
RT.append(_RT)
RT = np.stack(RT)
return RT
def create_relative(RT_list, K_1=4.7, dataset="syn"):
RT = copy.deepcopy(RT_list[0])
R_inv = RT[:,:3].T
T = RT[:,-1]
temp = []
for _RT in RT_list:
_RT[:,:3] = np.dot(_RT[:,:3], R_inv)
_RT[:,-1] = _RT[:,-1] - np.dot(_RT[:,:3], T)
temp.append(_RT)
RT_list = temp
return RT_list
def combine_camera_motion(RT_0, RT_1):
RT = copy.deepcopy(RT_0[-1])
R = RT[:,:3]
R_inv = RT[:,:3].T
T = RT[:,-1]
temp = []
for _RT in RT_1:
_RT[:,:3] = np.dot(_RT[:,:3], R)
_RT[:,-1] = _RT[:,-1] + np.dot(np.dot(_RT[:,:3], R_inv), T)
temp.append(_RT)
RT_1 = np.stack(temp)
return np.concatenate([RT_0, RT_1], axis=0) |