Spaces:
Paused
Paused
| import os | |
| import argparse | |
| import numpy as np | |
| from einops import rearrange, repeat | |
| import pdb | |
| def generate_rotation_extrinsics(direction: str, angle: float, num_frame: int): | |
| """ | |
| Generate extrinsic camera matrices with rotation only (no translation), | |
| allowing both positive and negative directions. | |
| Args: | |
| direction (str): '+x', '-x', '+y', '-y', '+z', or '-z' | |
| angle (float): total rotation angle in degrees | |
| num_frame (int): number of frames to interpolate the rotation | |
| Returns: | |
| List[np.ndarray]: List of 3x4 extrinsic matrices (rotation | zero translation) | |
| """ | |
| assert direction[0] in ('+', '-'), "direction must start with '+' or '-'" | |
| assert direction[1] in ('x', 'y', 'z'), "direction must be along x, y, or z" | |
| axis = direction[1] | |
| sign = 1 if direction[0] == '+' else -1 | |
| angle_rad = np.deg2rad(angle) * sign | |
| step = angle_rad / (num_frame - 1) | |
| extrinsics = [] | |
| for i in range(num_frame): | |
| theta = step * i | |
| print(theta) | |
| if axis == 'x': | |
| R = np.array([ | |
| [1, 0, 0], | |
| [0, np.cos(theta), -np.sin(theta)], | |
| [0, np.sin(theta), np.cos(theta)], | |
| ]) | |
| elif axis == 'y': | |
| R = np.array([ | |
| [np.cos(theta), 0, np.sin(theta)], | |
| [0, 1, 0], | |
| [-np.sin(theta), 0, np.cos(theta)], | |
| ]) | |
| elif axis == 'z': | |
| R = np.array([ | |
| [np.cos(theta), -np.sin(theta), 0], | |
| [np.sin(theta), np.cos(theta), 0], | |
| [0, 0, 1], | |
| ]) | |
| Rt = np.hstack([R, np.zeros((3, 1))]) # 3x4 matrix | |
| extrinsics.append(Rt) | |
| extrinsics = np.stack(extrinsics) | |
| K = np.array([0.474812, 0.844111, 0.500000, 0.500000, abs(0.000000), abs(0.000000)]) | |
| camparam = np.concatenate([repeat(K, 'n -> f n', f=num_frame), rearrange(extrinsics, 'f h w -> f (h w)')], axis=-1) | |
| return camparam | |
| def main(args): | |
| os.makedirs(args.output_path, exist_ok=True) | |
| angle = 90 | |
| # tilt up | |
| direction = ('+', 'x') | |
| camparam_tilt_up = generate_rotation_extrinsics(direction, angle, args.num_frame).astype(np.float32) | |
| np.savetxt(os.path.join(args.output_path, f'Tilt_Up_{angle:01f}.txt'), camparam_tilt_up, fmt='%1.6f') | |
| # tilt down | |
| direction = ('-', 'x') | |
| camparam_tilt_down = generate_rotation_extrinsics(direction, angle, args.num_frame).astype(np.float32) | |
| np.savetxt(os.path.join(args.output_path, f'Tilt_Down_{angle:01f}.txt'), camparam_tilt_down, fmt='%1.6f') | |
| # pan right | |
| direction = ('+', 'y') | |
| camparam_pan_right = generate_rotation_extrinsics(direction, angle, args.num_frame).astype(np.float32) | |
| np.savetxt(os.path.join(args.output_path, f'Pan_Right_{angle:01f}.txt'), camparam_pan_right, fmt='%1.6f') | |
| # pan left | |
| direction = ('-', 'y') | |
| camparam_pan_left = generate_rotation_extrinsics(direction, angle, args.num_frame).astype(np.float32) | |
| np.savetxt(os.path.join(args.output_path, f'Pan_Left_{angle:01f}.txt'), camparam_pan_left, fmt='%1.6f') | |
| # Spin clockwise | |
| direction = ('+', 'z') | |
| camparam_spin_clockwise = generate_rotation_extrinsics(direction, angle, args.num_frame).astype(np.float32) | |
| np.savetxt(os.path.join(args.output_path, f'Spin_Clockwise_{angle:01f}.txt'), camparam_spin_clockwise, fmt='%1.6f') | |
| # Spin anticlockwise | |
| direction = ('-', 'z') | |
| camparam_spin_anticlockwise = generate_rotation_extrinsics(direction, angle, args.num_frame).astype(np.float32) | |
| np.savetxt(os.path.join(args.output_path, f'Spin_AntiClockwise_{angle:01f}.txt'), camparam_spin_anticlockwise, fmt='%1.6f') | |
| # 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') | |
| 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) | |