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| import numpy as np | |
| import pyrender | |
| from typing import List, Optional, Union, Tuple | |
| from lib.utils.data import to_numpy | |
| def create_camera(K4:List, Rt:Optional[Tuple]): | |
| if Rt is not None: | |
| cam_R, cam_t = Rt | |
| cam_R = to_numpy(cam_R).copy() | |
| cam_t = to_numpy(cam_t).copy() | |
| cam_t[0] *= -1 | |
| else: | |
| cam_R = np.eye(3) | |
| cam_t = np.zeros(3) | |
| fx, fy, cx, cy = K4 | |
| cam_pose = np.eye(4) | |
| cam_pose[:3, :3] = cam_R | |
| cam_pose[:3, 3] = cam_t | |
| camera = pyrender.IntrinsicsCamera( fx=fx, fy=fy, cx=cx, cy=cy, zfar=1e12 ) | |
| return camera, cam_pose | |
| def create_raymond_lights() -> List[pyrender.Node]: | |
| ''' Return raymond light nodes for the scene. ''' | |
| thetas = np.pi * np.array([1.0 / 6.0, 1.0 / 6.0, 1.0 / 6.0]) | |
| phis = np.pi * np.array([0.0, 2.0 / 3.0, 4.0 / 3.0]) | |
| nodes = [] | |
| for phi, theta in zip(phis, thetas): | |
| xp = np.sin(theta) * np.cos(phi) | |
| yp = np.sin(theta) * np.sin(phi) | |
| zp = np.cos(theta) | |
| z = np.array([xp, yp, zp]) | |
| z = z / np.linalg.norm(z) | |
| x = np.array([-z[1], z[0], 0.0]) | |
| if np.linalg.norm(x) == 0: | |
| x = np.array([1.0, 0.0, 0.0]) | |
| x = x / np.linalg.norm(x) | |
| y = np.cross(z, x) | |
| matrix = np.eye(4) | |
| matrix[:3,:3] = np.c_[x,y,z] | |
| nodes.append(pyrender.Node( | |
| light = pyrender.DirectionalLight(color=np.ones(3), intensity=0.75), | |
| matrix = matrix | |
| )) | |
| return nodes |