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"""Modified from https://github.com/chaojie/ComfyUI-CameraCtrl-Wrapper/blob/main/camera_utils.py |
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""" |
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import copy |
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import numpy as np |
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CAMERA = { |
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"base_T_norm": 1.5, |
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"base_angle": np.pi/3, |
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"Static": { "angle":[0., 0., 0.], "T":[0., 0., 0.]}, |
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"Pan Up": { "angle":[0., 0., 0.], "T":[0., 1., 0.]}, |
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"Pan Down": { "angle":[0., 0., 0.], "T":[0.,-1.,0.]}, |
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"Pan Left": { "angle":[0., 0., 0.], "T":[1.,0.,0.]}, |
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"Pan Right": { "angle":[0., 0., 0.], "T": [-1.,0.,0.]}, |
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"Zoom In": { "angle":[0., 0., 0.], "T": [0.,0.,-2.]}, |
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"Zoom Out": { "angle":[0., 0., 0.], "T": [0.,0.,2.]}, |
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"ACW": { "angle": [0., 0., 1.], "T":[0., 0., 0.]}, |
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"CW": { "angle": [0., 0., -1.], "T":[0., 0., 0.]}, |
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} |
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def compute_R_form_rad_angle(angles): |
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theta_x, theta_y, theta_z = angles |
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Rx = np.array([[1, 0, 0], |
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[0, np.cos(theta_x), -np.sin(theta_x)], |
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[0, np.sin(theta_x), np.cos(theta_x)]]) |
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Ry = np.array([[np.cos(theta_y), 0, np.sin(theta_y)], |
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[0, 1, 0], |
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[-np.sin(theta_y), 0, np.cos(theta_y)]]) |
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Rz = np.array([[np.cos(theta_z), -np.sin(theta_z), 0], |
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[np.sin(theta_z), np.cos(theta_z), 0], |
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[0, 0, 1]]) |
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R = np.dot(Rz, np.dot(Ry, Rx)) |
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return R |
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def get_camera_motion(angle, T, speed, n=16): |
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RT = [] |
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for i in range(n): |
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_angle = (i/n)*speed*(CAMERA["base_angle"])*angle |
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R = compute_R_form_rad_angle(_angle) |
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_T=(i/n)*speed*(CAMERA["base_T_norm"])*(T.reshape(3,1)) |
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_RT = np.concatenate([R,_T], axis=1) |
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RT.append(_RT) |
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RT = np.stack(RT) |
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return RT |
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def create_relative(RT_list, K_1=4.7, dataset="syn"): |
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RT = copy.deepcopy(RT_list[0]) |
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R_inv = RT[:,:3].T |
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T = RT[:,-1] |
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temp = [] |
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for _RT in RT_list: |
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_RT[:,:3] = np.dot(_RT[:,:3], R_inv) |
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_RT[:,-1] = _RT[:,-1] - np.dot(_RT[:,:3], T) |
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temp.append(_RT) |
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RT_list = temp |
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return RT_list |
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def combine_camera_motion(RT_0, RT_1): |
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RT = copy.deepcopy(RT_0[-1]) |
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R = RT[:,:3] |
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R_inv = RT[:,:3].T |
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T = RT[:,-1] |
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temp = [] |
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for _RT in RT_1: |
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_RT[:,:3] = np.dot(_RT[:,:3], R) |
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_RT[:,-1] = _RT[:,-1] + np.dot(np.dot(_RT[:,:3], R_inv), T) |
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temp.append(_RT) |
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RT_1 = np.stack(temp) |
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return np.concatenate([RT_0, RT_1], axis=0) |
