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import os
import argparse
import numpy as np
from einops import rearrange, repeat
import pdb
# Generate W2C extrinsic parameters
def translation_matrix(direction, length, num_frame):
assert len(direction)==3, "direction should be [1, 0, 0] or [0, 1, 0] or ..."
K = np.array([0.474812, 0.844111, 0.500000, 0.500000, abs(0.000000), abs(0.000000)])
R = np.array([[1.0, abs(0.0), abs(0.0)],
[abs(0.0), 1.0, abs(0.0)],
[abs(0.0), abs(0.0), 1.0]])
T = (repeat(np.array(direction), 'n -> n f', f=num_frame) * np.linspace(abs(0.), length, num_frame)).transpose(1,0)
extrinsic = np.concatenate([repeat(R, 'h w -> f h w', f=num_frame), T[:,:,None]], axis=-1)
camparam = np.concatenate([repeat(K, 'n -> f n', f=num_frame), rearrange(extrinsic, 'f h w -> f (h w)')], axis=-1)
return camparam
def main(args):
os.makedirs(args.output_path, exist_ok=True)
length = 1.5
# right
direction = [1., abs(0.), abs(0.)]
camparam_right = translation_matrix(direction, length, args.num_frame).astype(np.float32)
np.savetxt(os.path.join(args.output_path, 'camera_R.txt'), camparam_right, fmt='%1.6f')
# left
direction = [-1., abs(0.), abs(0.)]
camparam_left = translation_matrix(direction, length, args.num_frame)
np.savetxt(os.path.join(args.output_path, 'camera_L.txt'), camparam_left, fmt='%1.6f')
# up
direction = [abs(0.), -1.0, abs(0.)]
camparam_up = translation_matrix(direction, length, args.num_frame)
np.savetxt(os.path.join(args.output_path, 'camera_U.txt'), camparam_up, fmt='%1.6f')
# down
direction = [abs(0.), 1.0, abs(0.)]
camparam_down = translation_matrix(direction, length, args.num_frame)
np.savetxt(os.path.join(args.output_path, 'camera_D.txt'), camparam_down, fmt='%1.6f')
# in
direction = [abs(0.), abs(0.), 1.0]
camparam_in = translation_matrix(direction, length, args.num_frame)
np.savetxt(os.path.join(args.output_path, 'camera_I.txt'), camparam_in, fmt='%1.6f')
# out
direction = [abs(0.), abs(0.), -1.0]
camparam_out = translation_matrix(direction, length, args.num_frame)
np.savetxt(os.path.join(args.output_path, 'camera_O.txt'), camparam_out, fmt='%1.6f')
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--output_path", type=str, required=True)
parser.add_argument("--num_frame", type=int, default=49)
args = parser.parse_args()
main(args)
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