Given n points associated with each of the m rays (each row in points), rotate and translate the coordinate so that - ray direction becomes (0,0,1) - ray origin becomes (0,0,0) - if translate is True, the coordinate origin is chosen so that the t to the closest projection is 1
(
points: torch.Tensor,
ray_origins: torch.Tensor,
ray_directions: torch.Tensor,
translate: bool = False,
randomize_translate: bool = False,
ts: torch.Tensor = None,
t_min: float = 0.,
t_max: float = 1e6,
)
| 926 | |
| 927 | |
| 928 | def rectify_points( |
| 929 | points: torch.Tensor, |
| 930 | ray_origins: torch.Tensor, |
| 931 | ray_directions: torch.Tensor, |
| 932 | translate: bool = False, |
| 933 | randomize_translate: bool = False, |
| 934 | ts: torch.Tensor = None, |
| 935 | t_min: float = 0., |
| 936 | t_max: float = 1e6, |
| 937 | ): |
| 938 | """ |
| 939 | Given n points associated with each of the m rays (each row in points), |
| 940 | rotate and translate the coordinate so that |
| 941 | - ray direction becomes (0,0,1) |
| 942 | - ray origin becomes (0,0,0) |
| 943 | - if translate is True, the coordinate origin is chosen so that the t to the closest projection is 1 |
| 944 | |
| 945 | Args: |
| 946 | points: |
| 947 | (*, m, n, 3) xyz |
| 948 | ray_origins: |
| 949 | (*, m, 3) |
| 950 | ray_directions: |
| 951 | (*, m, 3) |
| 952 | translate: |
| 953 | whether to translate the coord so that the closest point's projection on the |
| 954 | ray has t = 0 for all t > 0. |
| 955 | randomize_translate: |
| 956 | only used when translate is true. |
| 957 | If randomize_translate = true, tt will be one random distance between 0 and closest point |
| 958 | ts: |
| 959 | (*, m, n) the projection length each points on the ray |
| 960 | should be given only if translate is True. |
| 961 | |
| 962 | Returns: |
| 963 | points_n: |
| 964 | (*, m, n, 3) the transformed points |
| 965 | Rs_w2n: |
| 966 | (*, m, 3, 3) the rotation matrix that transform the world coord to the rectified coord |
| 967 | translation_w2n: |
| 968 | (*, m, 3, 1) the translation vector that transform the world coord to the rectified coord |
| 969 | tt: |
| 970 | (*, m) the t that we subtract from the input ts |
| 971 | """ |
| 972 | timing_info = dict() |
| 973 | stime_total = timer() |
| 974 | stime_frame = timer() |
| 975 | y = torch.zeros_like(ray_directions) # (*, m, 3) |
| 976 | y[..., 1] = 1. # try to use the current y-axis as the y-axis |
| 977 | Rs_n2w = rigid_motion.construct_coord_frame( |
| 978 | z=ray_directions, |
| 979 | y=y, |
| 980 | ) # (*, m, 3, 3) the column in the 3*3 matrix is the axis coord with unit norm |
| 981 | # Rs_n2w = torch.randn(*(ray_directions.shape[:-1]), 3, 3, device=ray_directions.device) |
| 982 | # it can be thought of as the transform matrix from the new coord to the world coord |
| 983 | timing_info['create_R_n2w_in_rectify'] = timer() - stime_frame |
| 984 | |
| 985 | stime_ts = timer() |