Function perturb_single_render_pose_norm

script/feature/misc.py:485–519

Inputs: poses: (3, 4) x: translational perturb range angle: rotation angle perturb range in degrees Outputs: new_c2w: (N_views, 3, 4) new poses

(poses, x, angle)

    return new_c2w

def perturb_single_render_pose_norm(poses, x, angle):
    """
    Inputs:
        poses: (3, 4)
        x: translational perturb range
        angle: rotation angle perturb range in degrees
    Outputs:
        new_c2w: (N_views, 3, 4) new poses
    """
    c2w=poses
    
    N_views = 1 # number of views 
    new_c2w = np.zeros((N_views, 3, 4))

    # perturb translational pose
    for i in range(N_views):
        new_c2w[i] = c2w
        trans_rand = np.random.uniform(-x,x,3) # random number of 3 axis pose perturbation

        # normalize 3 axis perturbation to x, this will make sure sum of 3-axis perturbation to be x constant
        trans_rand = trans_rand / abs(trans_rand).sum() * x
        new_c2w[i,:,3] = new_c2w[i,:,3] + trans_rand # perturb pos between -1 to 1

        # perturb rotation pose
        theta=np.random.uniform(-angle,angle,1) # in degrees
        phi=np.random.uniform(-angle,angle,1) # in degrees
        psi=np.random.uniform(-angle,angle,1) # in degrees
        
        rot_rand = np.array([theta, phi, psi])
        rot_rand = rot_rand / abs(rot_rand).sum() * angle
        theta, phi, psi = rot_rand

        # normalize 3 axis perturbation to x, this will make sure sum of 3-axis perturbation to be x constant
        new_c2w[i] = perturb_rotation(new_c2w[i], theta, phi, psi)
    return new_c2w