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import numpy as np
from glob import glob
import random
import os
import pdb
random.seed(7777)
class SampleManualCam:
def __init__(
self,
pose_type = 'manual',
root_path = '../assets/manual_poses',
):
self.root_path = root_path
if pose_type == 'manual':
self.MANUAL_CAM = ['I', 'D', 'L', 'O', 'R', 'U']
elif pose_type == 're10k':
self.RE10K_CAM = os.listdir(root_path)
# self.pose_path = glob(root_path, "*.txt")
self.pose_type = pose_type
def sample(self, order=None, name=None):
# Sample camera parameters (W2C)
if self.pose_type == 'manual':
if name is not None:
assert name in self.MANUAL_CAM
cam_name = name
elif order is not None:
order = order % len(self.MANUAL_CAM)
cam_name = self.MANUAL_CAM[order]
else:
cam_name = random.choice(self.MANUAL_CAM)
path = os.path.join(self.root_path, f"camera_{cam_name}.txt")
elif self.pose_type == 're10k':
if name is not None:
assert name in self.RE10K_CAM
cam_name = name
elif order is not None:
order = order % len(self.RE10K_CAM)
cam_name = self.RE10K_CAM[order]
else:
cam_name = random.choice(self.RE10K_CAM)
path = os.path.join(self.root_path, cam_name)
with open(path, 'r') as f:
poses = f.readlines()
poses = [pose.strip().split(' ') for pose in poses]
poses = [[float(x) for x in pose] for pose in poses]
return poses, cam_name |