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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) | |