Function generate_random_camera_poses

plib/rigid_motion.py:571–683

Generate `n` random camera poses, all of them within a cone of angle of `max_angle` (in degree) (i.e., -max_angle, max_angle) pointing toward a random direction. The camera centers to the origin are within min_r to max_r. If `local_max_angle` = 0, the camera will point to a random

(
        n: int,
        max_angle: float,
        min_r: float,
        max_r: float,
        center_direction_w: T.List[float] = None,
        rng: np.random.RandomState = None,
        local_max_angle: float = 0.,
        rand_r: float = 0,
        origin_w: T.List[float] = None,  # (0., 0., 0.,),
        dtype: np.dtype = np.float32,
        method: str = 'random',
)

def generate_random_camera_poses(
        n: int,
        max_angle: float,
        min_r: float,
        max_r: float,
        center_direction_w: T.List[float] = None,
        rng: np.random.RandomState = None,
        local_max_angle: float = 0.,
        rand_r: float = 0,
        origin_w: T.List[float] = None,  # (0., 0., 0.,),
        dtype: np.dtype = np.float32,
        method: str = 'random',
) -> T.List[np.ndarray]:
    """
    Generate `n` random camera poses, all of them within a cone of angle of `max_angle` (in degree)
    (i.e., -max_angle, max_angle) pointing toward a random direction.
    The camera centers to the origin are within min_r to max_r.

    If `local_max_angle` = 0, the camera will point to a random point with a sphere with r=rand_r.

    Args:
        max_angle:
            in degree. within the range of [0, 180.],  if 180, covers the entire sphere.
        center_direction_w:
            the center direction of the cone. If None, randomly choose one.
        local_max_angle:
            A small random xyz rotation (in degree) for each camera
        rand_r:
            a box with radius `center_r` within which the camera will be looking at
        origin_w: 
            the origin in the world coordinate where the camera is randomly placed.
            If None, origin_w = (0, 0, 0,)
        method:
            'random'
    """

    np_dtype = sample_utils.get_np_dtype(dtype)
    torch_dtype = sample_utils.get_np_dtype(dtype)

    if rng is None:
        rng = np.random

    # we first assume the world coordinate's y axis and z axis are flipped.
    # in order words, we have x to right, y to up, z to us.
    # We will deal with it at the end.

    if center_direction_w is None:
        # randomly sample a center direction
        d0 = get_random_direction(rng=rng)  # (3,)  float64
    else:
        d0 = np.array(center_direction_w, dtype=np.float64)  # (3,)  float64

    # randomly sample within the cone centered at (0,0,1) and spanning theta degrees each direction
    ds = get_random_direction_within_cone(
        n=n,
        theta=max_angle,
        rng=rng,
        method=method,