vkit.mechanism.distortion.geometric.camera
1# Copyright 2022 vkit-x Administrator. All Rights Reserved. 2# 3# This project (vkit-x/vkit) is dual-licensed under commercial and SSPL licenses. 4# 5# The commercial license gives you the full rights to create and distribute software 6# on your own terms without any SSPL license obligations. For more information, 7# please see the "LICENSE_COMMERCIAL.txt" file. 8# 9# This project is also available under Server Side Public License (SSPL). 10# The SSPL licensing is ideal for use cases such as open source projects with 11# SSPL distribution, student/academic purposes, hobby projects, internal research 12# projects without external distribution, or other projects where all SSPL 13# obligations can be met. For more information, please see the "LICENSE_SSPL.txt" file. 14from typing import ( 15 cast, 16 Callable, 17 Sequence, 18 Optional, 19 Tuple, 20 Union, 21 Iterable, 22 TypeVar, 23) 24import math 25 26import attrs 27import cv2 as cv 28import numpy as np 29from numpy.random import Generator as RandomGenerator 30 31from vkit.element import Point, PointList, PointTuple 32from ..interface import DistortionConfig 33from .grid_rendering.interface import ( 34 PointProjector, 35 DistortionStateImageGridBased, 36 DistortionImageGridBased, 37) 38from .grid_rendering.grid_creator import create_src_image_grid 39 40_T_CONFIG = TypeVar('_T_CONFIG', bound=DistortionConfig) 41 42 43class Point2dTo3dStrategy: 44 45 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 46 raise NotImplementedError() 47 48 49@attrs.define 50class CameraModelConfig: 51 rotation_unit_vec: Sequence[float] 52 rotation_theta: float 53 focal_length: Optional[float] = None 54 principal_point: Optional[Sequence[float]] = None 55 camera_distance: Optional[float] = None 56 57 58class CameraModel: 59 60 @classmethod 61 def prep_rotation_unit_vec(cls, rotation_unit_vec: Sequence[float]) -> np.ndarray: 62 vec = np.asarray(rotation_unit_vec, dtype=np.float32) 63 length = np.linalg.norm(vec) 64 if length != 1.0: 65 vec /= length 66 return vec 67 68 @classmethod 69 def prep_rotation_theta(cls, rotation_theta: float): 70 return float(np.clip(rotation_theta, -89, 89) / 180 * np.pi) 71 72 @classmethod 73 def prep_principal_point(cls, principal_point: Sequence[float]): 74 principal_point = list(principal_point) 75 if len(principal_point) == 2: 76 principal_point.append(0) 77 return np.asarray(principal_point, dtype=np.float32).reshape(-1, 1) 78 79 @classmethod 80 def generate_rotation_vec(cls, rotation_unit_vec: np.ndarray, rotation_theta: float): 81 # Defines how the object is rotated, following the right hand rule: 82 # https://en.wikipedia.org/wiki/Right-hand_rule#Rotations 83 # 84 # Multiplication is for cv.Rodrigues, as explained in 85 # https://stackoverflow.com/a/12977143 86 return rotation_unit_vec * rotation_theta 87 88 @classmethod 89 def generate_rotation_mat_and_translation_vec( 90 cls, 91 rotation_vec: np.ndarray, 92 camera_distance: float, 93 principal_point: np.ndarray, 94 ): 95 # rotation_mat is a 3x3 matrix [rotated-x, rotated-y, rotated-z] 96 rotation_mat, _ = cv.Rodrigues(rotation_vec) 97 rotation_mat = cast(np.ndarray, rotation_mat) 98 99 # Assume that image is place in the world coordinate in the way as followed: 100 # 1. top-left corner: (0, 0, *) 101 # 2. top-right corner: (width - 1, 0, *) 102 # 3. bottom-left corner: (0, height - 1, *) 103 # 4. bottom-right corner: (width - 1, height - 1, *) 104 # 105 # principal_point is defined to represent the intersection between axis-z 106 # of the camera coordinate and the image. principal_point is defined in the 107 # world coordinate with axis-z = 0. principal_point should be in position 108 # (0, 0, camera_distance) after transformation. 109 # 110 # "cc_" is for camera coordinate and "wc_" is for world coordinate. 111 cc_principal_point_vec = np.asarray( 112 [0, 0, camera_distance], 113 dtype=np.float32, 114 ).reshape(-1, 1) 115 wc_shifted_original_vec = np.matmul( 116 # NOTE: The rotation matrix is orthogonal, 117 # hence it's inverse is equal to it's transpose. 118 rotation_mat.transpose(), 119 cc_principal_point_vec, 120 ) 121 wc_shifted_principal_point_vec = wc_shifted_original_vec - principal_point 122 123 translation_vec: np.ndarray = np.matmul( 124 rotation_mat, 125 wc_shifted_principal_point_vec.reshape(-1, 1), 126 ) 127 return rotation_mat, translation_vec 128 129 @classmethod 130 def generate_translation_vec( 131 cls, 132 rotation_vec: np.ndarray, 133 camera_distance: float, 134 principal_point: np.ndarray, 135 ): 136 _, translation_vec = CameraModel.generate_rotation_mat_and_translation_vec( 137 rotation_vec, 138 camera_distance, 139 principal_point, 140 ) 141 return translation_vec 142 143 @classmethod 144 def generate_extrinsic_mat( 145 cls, 146 rotation_unit_vec: np.ndarray, 147 rotation_theta: float, 148 camera_distance: float, 149 principal_point: np.ndarray, 150 ): 151 rotation_vec = CameraModel.generate_rotation_vec(rotation_unit_vec, rotation_theta) 152 rotation_mat, translation_vec = CameraModel.generate_rotation_mat_and_translation_vec( 153 rotation_vec, 154 camera_distance, 155 principal_point, 156 ) 157 extrinsic_mat = np.hstack((rotation_mat, translation_vec.reshape((-1, 1)))) 158 return extrinsic_mat 159 160 @classmethod 161 def generate_intrinsic_mat(cls, focal_length: float): 162 return np.asarray( 163 [ 164 [focal_length, 0, 0], 165 [0, focal_length, 0], 166 [0, 0, 1], 167 ], 168 dtype=np.float32, 169 ) 170 171 def __init__(self, config: CameraModelConfig): 172 assert config.focal_length 173 assert config.camera_distance 174 assert config.principal_point 175 176 rotation_unit_vec = self.prep_rotation_unit_vec(config.rotation_unit_vec) 177 rotation_theta = self.prep_rotation_theta(config.rotation_theta) 178 self.rotation_vec = self.generate_rotation_vec(rotation_unit_vec, rotation_theta) 179 180 principal_point = self.prep_principal_point(config.principal_point) 181 self.translation_vec = self.generate_translation_vec( 182 self.rotation_vec, 183 config.camera_distance, 184 principal_point, 185 ) 186 self.intrinsic_mat = self.generate_intrinsic_mat(config.focal_length) 187 188 def project_np_points_from_3d_to_2d(self, np_3d_points: np.ndarray) -> np.ndarray: 189 camera_2d_points, _ = cv.projectPoints( 190 np_3d_points, 191 self.rotation_vec, 192 self.translation_vec, 193 self.intrinsic_mat, 194 np.zeros(5), 195 ) 196 return camera_2d_points.reshape(-1, 2) 197 198 199class CameraPointProjector(PointProjector): 200 201 def __init__( 202 self, 203 point_2d_to_3d_strategy: Point2dTo3dStrategy, 204 camera_model_config: CameraModelConfig, 205 ): 206 self.point_2d_to_3d_strategy = point_2d_to_3d_strategy 207 self.camera_model = CameraModel(camera_model_config) 208 209 def project_points(self, src_points: Union[PointList, PointTuple, Iterable[Point]]): 210 np_3d_points = self.point_2d_to_3d_strategy.generate_np_3d_points(PointTuple(src_points)) 211 camera_2d_points = self.camera_model.project_np_points_from_3d_to_2d(np_3d_points) 212 return PointTuple.from_np_array(camera_2d_points) 213 214 def project_point(self, src_point: Point): 215 return self.project_points(PointTuple.from_point(src_point))[0] 216 217 218class DistortionStateCameraOperation(DistortionStateImageGridBased[_T_CONFIG]): 219 220 @classmethod 221 def complete_camera_model_config( 222 cls, 223 height: int, 224 width: int, 225 camera_model_config: CameraModelConfig, 226 ): 227 if camera_model_config.principal_point \ 228 and camera_model_config.focal_length \ 229 and camera_model_config.camera_distance: 230 return camera_model_config 231 232 # Make a copy. 233 camera_model_config = attrs.evolve(camera_model_config) 234 235 if not camera_model_config.principal_point: 236 camera_model_config.principal_point = [height // 2, width // 2] 237 238 if not camera_model_config.focal_length \ 239 or not camera_model_config.camera_distance: 240 camera_model_config.focal_length = max(height, width) 241 camera_model_config.camera_distance = camera_model_config.focal_length 242 243 return camera_model_config 244 245 def initialize_camera_operation( 246 self, 247 height: int, 248 width: int, 249 grid_size: int, 250 point_2d_to_3d_strategy: Point2dTo3dStrategy, 251 camera_model_config: CameraModelConfig, 252 ): 253 src_image_grid = create_src_image_grid(height, width, grid_size) 254 255 camera_model_config = self.complete_camera_model_config( 256 height, 257 width, 258 camera_model_config, 259 ) 260 point_projector = CameraPointProjector( 261 point_2d_to_3d_strategy, 262 camera_model_config, 263 ) 264 265 self.initialize_image_grid_based(src_image_grid, point_projector) 266 267 268@attrs.define 269class CameraPlaneOnlyConfig(DistortionConfig): 270 camera_model_config: CameraModelConfig 271 grid_size: int 272 273 274class CameraPlaneOnlyPoint2dTo3dStrategy(Point2dTo3dStrategy): 275 276 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 277 np_2d_points = points.to_smooth_np_array() 278 np_3d_points = np.hstack(( 279 np_2d_points, 280 np.zeros((np_2d_points.shape[0], 1), dtype=np.float32), 281 )) 282 return np_3d_points 283 284 285class CameraPlaneOnlyState(DistortionStateCameraOperation[CameraPlaneOnlyConfig]): 286 287 @classmethod 288 def weights_func(cls, norm_distances: np.ndarray, alpha: float): 289 return alpha / (norm_distances + alpha) 290 291 def __init__( 292 self, 293 config: CameraPlaneOnlyConfig, 294 shape: Tuple[int, int], 295 rng: Optional[RandomGenerator], 296 ): 297 height, width = shape 298 self.initialize_camera_operation( 299 height, 300 width, 301 config.grid_size, 302 CameraPlaneOnlyPoint2dTo3dStrategy(), 303 config.camera_model_config, 304 ) 305 306 307camera_plane_only = DistortionImageGridBased( 308 config_cls=CameraPlaneOnlyConfig, 309 state_cls=CameraPlaneOnlyState, 310) 311 312 313@attrs.define 314class CameraCubicCurveConfig(DistortionConfig): 315 curve_alpha: float 316 curve_beta: float 317 # Clockwise, [0, 180] 318 curve_direction: float 319 curve_scale: float 320 camera_model_config: CameraModelConfig 321 grid_size: int 322 323 324class CameraCubicCurvePoint2dTo3dStrategy(Point2dTo3dStrategy): 325 326 def __init__( 327 self, 328 height: int, 329 width: int, 330 curve_alpha: float, 331 curve_beta: float, 332 curve_direction: float, 333 curve_scale: float, 334 ): 335 # Plane area. 336 self.height = height 337 self.width = width 338 339 # Curve endpoint slopes. 340 self.curve_alpha = math.tan(np.clip(curve_alpha, -80, 80) / 180 * np.pi) 341 self.curve_beta = math.tan(np.clip(curve_beta, -80, 80) / 180 * np.pi) 342 343 # Plane projection direction. 344 self.curve_direction = (curve_direction % 180) / 180 * np.pi 345 346 self.rotation_mat = np.asarray( 347 [ 348 [ 349 math.cos(self.curve_direction), 350 math.sin(self.curve_direction), 351 ], 352 [ 353 -math.sin(self.curve_direction), 354 math.cos(self.curve_direction), 355 ], 356 ], 357 dtype=np.float32, 358 ) 359 360 corners = np.asarray( 361 [ 362 [0, 0], 363 [self.width - 1, 0], 364 [self.width - 1, self.height - 1], 365 [0, self.height - 1], 366 ], 367 dtype=np.float32, 368 ) 369 rotated_corners = np.matmul(self.rotation_mat, corners.transpose()) 370 self.plane_projection_min = rotated_corners[0].min() 371 self.plane_projection_range = rotated_corners[0].max() - self.plane_projection_min 372 373 self.curve_scale = curve_scale 374 375 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 376 np_2d_points = points.to_smooth_np_array() 377 378 # Project based on theta. 379 plane_projected_points = np.matmul(self.rotation_mat, np_2d_points.transpose()) 380 plane_projected_xs = plane_projected_points[0] 381 plane_projected_ratios = ( 382 plane_projected_xs - self.plane_projection_min 383 ) / self.plane_projection_range 384 385 # Axis-z. 386 poly = np.asarray([ 387 self.curve_alpha + self.curve_beta, 388 -2 * self.curve_alpha - self.curve_beta, 389 self.curve_alpha, 390 0, 391 ]) 392 pos_zs = np.polyval(poly, plane_projected_ratios) 393 pos_zs = pos_zs * self.plane_projection_range * self.curve_scale 394 # Shift mean to zero. 395 pos_zs: np.ndarray = pos_zs - pos_zs.mean() 396 397 np_3d_points = np.hstack((np_2d_points, pos_zs.reshape((-1, 1)))) 398 return np_3d_points 399 400 401class CameraCubicCurveState(DistortionStateCameraOperation[CameraCubicCurveConfig]): 402 403 def __init__( 404 self, 405 config: CameraCubicCurveConfig, 406 shape: Tuple[int, int], 407 rng: Optional[RandomGenerator], 408 ): 409 height, width = shape 410 self.initialize_camera_operation( 411 height, 412 width, 413 config.grid_size, 414 CameraCubicCurvePoint2dTo3dStrategy( 415 height, 416 width, 417 config.curve_alpha, 418 config.curve_beta, 419 config.curve_direction, 420 config.curve_scale, 421 ), 422 config.camera_model_config, 423 ) 424 425 426camera_cubic_curve = DistortionImageGridBased( 427 config_cls=CameraCubicCurveConfig, 428 state_cls=CameraCubicCurveState, 429) 430 431 432class CameraPlaneLinePoint2dTo3dStrategy(Point2dTo3dStrategy): 433 434 def __init__( 435 self, 436 height: int, 437 width: int, 438 point: Tuple[float, float], 439 direction: float, 440 perturb_vec: Tuple[float, float, float], 441 alpha: float, 442 weights_func: Callable[[np.ndarray, float], np.ndarray], 443 ): 444 # Plane area. 445 self.height = height 446 self.width = width 447 448 # Define a line. 449 self.point = np.asarray(point, dtype=np.float32) 450 direction = (direction % 180) / 180 * np.pi 451 cos_theta = np.cos(direction) 452 sin_theta = np.sin(direction) 453 self.line_params_a_b = np.asarray([sin_theta, -cos_theta], dtype=np.float32) 454 self.line_param_c = -self.point[0] * sin_theta + self.point[1] * cos_theta 455 456 # For weight calculationn. 457 self.distance_max = np.sqrt(height**2 + width**2) 458 self.alpha = alpha 459 self.weights_func = weights_func 460 461 # Deformation vector. 462 self.perturb_vec = np.asarray(perturb_vec, dtype=np.float32) 463 464 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 465 np_2d_points = points.to_smooth_np_array() 466 467 # Calculate weights. 468 distances = np.abs((np_2d_points * self.line_params_a_b).sum(axis=1) + self.line_param_c) 469 norm_distances = distances / self.distance_max 470 weights = self.weights_func(norm_distances, self.alpha) 471 472 # Add weighted fold vector. 473 np_3d_points = np.hstack( 474 (np_2d_points, np.zeros((np_2d_points.shape[0], 1), dtype=np.float32)) 475 ) 476 np_perturb = weights.reshape(-1, 1) * self.perturb_vec 477 # Shift mean to zero. 478 np_perturb -= np_perturb.mean(axis=0) 479 np_3d_points += np_perturb 480 return np_3d_points 481 482 483@attrs.define 484class CameraPlaneLineFoldConfig(DistortionConfig): 485 fold_point: Tuple[float, float] 486 # Clockwise, [0, 180] 487 fold_direction: float 488 fold_perturb_vec: Tuple[float, float, float] 489 fold_alpha: float 490 camera_model_config: CameraModelConfig 491 grid_size: int 492 493 494class CameraPlaneLineFoldState(DistortionStateCameraOperation[CameraPlaneLineFoldConfig]): 495 496 @classmethod 497 def weights_func(cls, norm_distances: np.ndarray, alpha: float): 498 return alpha / (norm_distances + alpha) 499 500 def __init__( 501 self, 502 config: CameraPlaneLineFoldConfig, 503 shape: Tuple[int, int], 504 rng: Optional[RandomGenerator], 505 ): 506 height, width = shape 507 self.initialize_camera_operation( 508 height, 509 width, 510 config.grid_size, 511 CameraPlaneLinePoint2dTo3dStrategy( 512 height=height, 513 width=width, 514 point=config.fold_point, 515 direction=config.fold_direction, 516 perturb_vec=config.fold_perturb_vec, 517 alpha=config.fold_alpha, 518 weights_func=self.weights_func, 519 ), 520 config.camera_model_config, 521 ) 522 523 524camera_plane_line_fold = DistortionImageGridBased( 525 config_cls=CameraPlaneLineFoldConfig, 526 state_cls=CameraPlaneLineFoldState, 527) 528 529 530@attrs.define 531class CameraPlaneLineCurveConfig(DistortionConfig): 532 curve_point: Tuple[float, float] 533 # Clockwise, [0, 180] 534 curve_direction: float 535 curve_perturb_vec: Tuple[float, float, float] 536 curve_alpha: float 537 camera_model_config: CameraModelConfig 538 grid_size: int 539 540 541class CameraPlaneLineCurveState(DistortionStateCameraOperation[CameraPlaneLineCurveConfig]): 542 543 @classmethod 544 def weights_func(cls, norm_distances: np.ndarray, alpha: float): 545 return 1 - norm_distances**alpha 546 547 def __init__( 548 self, 549 config: CameraPlaneLineCurveConfig, 550 shape: Tuple[int, int], 551 rng: Optional[RandomGenerator], 552 ): 553 height, width = shape 554 self.initialize_camera_operation( 555 height, 556 width, 557 config.grid_size, 558 CameraPlaneLinePoint2dTo3dStrategy( 559 height=height, 560 width=width, 561 point=config.curve_point, 562 direction=config.curve_direction, 563 perturb_vec=config.curve_perturb_vec, 564 alpha=config.curve_alpha, 565 weights_func=self.weights_func, 566 ), 567 config.camera_model_config, 568 ) 569 570 571camera_plane_line_curve = DistortionImageGridBased( 572 config_cls=CameraPlaneLineCurveConfig, 573 state_cls=CameraPlaneLineCurveState, 574)
class
Point2dTo3dStrategy:
44class Point2dTo3dStrategy: 45 46 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 47 raise NotImplementedError()
class
CameraModelConfig:
51class CameraModelConfig: 52 rotation_unit_vec: Sequence[float] 53 rotation_theta: float 54 focal_length: Optional[float] = None 55 principal_point: Optional[Sequence[float]] = None 56 camera_distance: Optional[float] = None
CameraModelConfig( rotation_unit_vec: Sequence[float], rotation_theta: float, focal_length: Union[float, NoneType] = None, principal_point: Union[Sequence[float], NoneType] = None, camera_distance: Union[float, NoneType] = None)
2def __init__(self, rotation_unit_vec, rotation_theta, focal_length=attr_dict['focal_length'].default, principal_point=attr_dict['principal_point'].default, camera_distance=attr_dict['camera_distance'].default): 3 self.rotation_unit_vec = rotation_unit_vec 4 self.rotation_theta = rotation_theta 5 self.focal_length = focal_length 6 self.principal_point = principal_point 7 self.camera_distance = camera_distance
Method generated by attrs for class CameraModelConfig.
class
CameraModel:
59class CameraModel: 60 61 @classmethod 62 def prep_rotation_unit_vec(cls, rotation_unit_vec: Sequence[float]) -> np.ndarray: 63 vec = np.asarray(rotation_unit_vec, dtype=np.float32) 64 length = np.linalg.norm(vec) 65 if length != 1.0: 66 vec /= length 67 return vec 68 69 @classmethod 70 def prep_rotation_theta(cls, rotation_theta: float): 71 return float(np.clip(rotation_theta, -89, 89) / 180 * np.pi) 72 73 @classmethod 74 def prep_principal_point(cls, principal_point: Sequence[float]): 75 principal_point = list(principal_point) 76 if len(principal_point) == 2: 77 principal_point.append(0) 78 return np.asarray(principal_point, dtype=np.float32).reshape(-1, 1) 79 80 @classmethod 81 def generate_rotation_vec(cls, rotation_unit_vec: np.ndarray, rotation_theta: float): 82 # Defines how the object is rotated, following the right hand rule: 83 # https://en.wikipedia.org/wiki/Right-hand_rule#Rotations 84 # 85 # Multiplication is for cv.Rodrigues, as explained in 86 # https://stackoverflow.com/a/12977143 87 return rotation_unit_vec * rotation_theta 88 89 @classmethod 90 def generate_rotation_mat_and_translation_vec( 91 cls, 92 rotation_vec: np.ndarray, 93 camera_distance: float, 94 principal_point: np.ndarray, 95 ): 96 # rotation_mat is a 3x3 matrix [rotated-x, rotated-y, rotated-z] 97 rotation_mat, _ = cv.Rodrigues(rotation_vec) 98 rotation_mat = cast(np.ndarray, rotation_mat) 99 100 # Assume that image is place in the world coordinate in the way as followed: 101 # 1. top-left corner: (0, 0, *) 102 # 2. top-right corner: (width - 1, 0, *) 103 # 3. bottom-left corner: (0, height - 1, *) 104 # 4. bottom-right corner: (width - 1, height - 1, *) 105 # 106 # principal_point is defined to represent the intersection between axis-z 107 # of the camera coordinate and the image. principal_point is defined in the 108 # world coordinate with axis-z = 0. principal_point should be in position 109 # (0, 0, camera_distance) after transformation. 110 # 111 # "cc_" is for camera coordinate and "wc_" is for world coordinate. 112 cc_principal_point_vec = np.asarray( 113 [0, 0, camera_distance], 114 dtype=np.float32, 115 ).reshape(-1, 1) 116 wc_shifted_original_vec = np.matmul( 117 # NOTE: The rotation matrix is orthogonal, 118 # hence it's inverse is equal to it's transpose. 119 rotation_mat.transpose(), 120 cc_principal_point_vec, 121 ) 122 wc_shifted_principal_point_vec = wc_shifted_original_vec - principal_point 123 124 translation_vec: np.ndarray = np.matmul( 125 rotation_mat, 126 wc_shifted_principal_point_vec.reshape(-1, 1), 127 ) 128 return rotation_mat, translation_vec 129 130 @classmethod 131 def generate_translation_vec( 132 cls, 133 rotation_vec: np.ndarray, 134 camera_distance: float, 135 principal_point: np.ndarray, 136 ): 137 _, translation_vec = CameraModel.generate_rotation_mat_and_translation_vec( 138 rotation_vec, 139 camera_distance, 140 principal_point, 141 ) 142 return translation_vec 143 144 @classmethod 145 def generate_extrinsic_mat( 146 cls, 147 rotation_unit_vec: np.ndarray, 148 rotation_theta: float, 149 camera_distance: float, 150 principal_point: np.ndarray, 151 ): 152 rotation_vec = CameraModel.generate_rotation_vec(rotation_unit_vec, rotation_theta) 153 rotation_mat, translation_vec = CameraModel.generate_rotation_mat_and_translation_vec( 154 rotation_vec, 155 camera_distance, 156 principal_point, 157 ) 158 extrinsic_mat = np.hstack((rotation_mat, translation_vec.reshape((-1, 1)))) 159 return extrinsic_mat 160 161 @classmethod 162 def generate_intrinsic_mat(cls, focal_length: float): 163 return np.asarray( 164 [ 165 [focal_length, 0, 0], 166 [0, focal_length, 0], 167 [0, 0, 1], 168 ], 169 dtype=np.float32, 170 ) 171 172 def __init__(self, config: CameraModelConfig): 173 assert config.focal_length 174 assert config.camera_distance 175 assert config.principal_point 176 177 rotation_unit_vec = self.prep_rotation_unit_vec(config.rotation_unit_vec) 178 rotation_theta = self.prep_rotation_theta(config.rotation_theta) 179 self.rotation_vec = self.generate_rotation_vec(rotation_unit_vec, rotation_theta) 180 181 principal_point = self.prep_principal_point(config.principal_point) 182 self.translation_vec = self.generate_translation_vec( 183 self.rotation_vec, 184 config.camera_distance, 185 principal_point, 186 ) 187 self.intrinsic_mat = self.generate_intrinsic_mat(config.focal_length) 188 189 def project_np_points_from_3d_to_2d(self, np_3d_points: np.ndarray) -> np.ndarray: 190 camera_2d_points, _ = cv.projectPoints( 191 np_3d_points, 192 self.rotation_vec, 193 self.translation_vec, 194 self.intrinsic_mat, 195 np.zeros(5), 196 ) 197 return camera_2d_points.reshape(-1, 2)
CameraModel(config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig)
172 def __init__(self, config: CameraModelConfig): 173 assert config.focal_length 174 assert config.camera_distance 175 assert config.principal_point 176 177 rotation_unit_vec = self.prep_rotation_unit_vec(config.rotation_unit_vec) 178 rotation_theta = self.prep_rotation_theta(config.rotation_theta) 179 self.rotation_vec = self.generate_rotation_vec(rotation_unit_vec, rotation_theta) 180 181 principal_point = self.prep_principal_point(config.principal_point) 182 self.translation_vec = self.generate_translation_vec( 183 self.rotation_vec, 184 config.camera_distance, 185 principal_point, 186 ) 187 self.intrinsic_mat = self.generate_intrinsic_mat(config.focal_length)
@classmethod
def
generate_rotation_vec(cls, rotation_unit_vec: numpy.ndarray, rotation_theta: float):
80 @classmethod 81 def generate_rotation_vec(cls, rotation_unit_vec: np.ndarray, rotation_theta: float): 82 # Defines how the object is rotated, following the right hand rule: 83 # https://en.wikipedia.org/wiki/Right-hand_rule#Rotations 84 # 85 # Multiplication is for cv.Rodrigues, as explained in 86 # https://stackoverflow.com/a/12977143 87 return rotation_unit_vec * rotation_theta
@classmethod
def
generate_rotation_mat_and_translation_vec( cls, rotation_vec: numpy.ndarray, camera_distance: float, principal_point: numpy.ndarray):
89 @classmethod 90 def generate_rotation_mat_and_translation_vec( 91 cls, 92 rotation_vec: np.ndarray, 93 camera_distance: float, 94 principal_point: np.ndarray, 95 ): 96 # rotation_mat is a 3x3 matrix [rotated-x, rotated-y, rotated-z] 97 rotation_mat, _ = cv.Rodrigues(rotation_vec) 98 rotation_mat = cast(np.ndarray, rotation_mat) 99 100 # Assume that image is place in the world coordinate in the way as followed: 101 # 1. top-left corner: (0, 0, *) 102 # 2. top-right corner: (width - 1, 0, *) 103 # 3. bottom-left corner: (0, height - 1, *) 104 # 4. bottom-right corner: (width - 1, height - 1, *) 105 # 106 # principal_point is defined to represent the intersection between axis-z 107 # of the camera coordinate and the image. principal_point is defined in the 108 # world coordinate with axis-z = 0. principal_point should be in position 109 # (0, 0, camera_distance) after transformation. 110 # 111 # "cc_" is for camera coordinate and "wc_" is for world coordinate. 112 cc_principal_point_vec = np.asarray( 113 [0, 0, camera_distance], 114 dtype=np.float32, 115 ).reshape(-1, 1) 116 wc_shifted_original_vec = np.matmul( 117 # NOTE: The rotation matrix is orthogonal, 118 # hence it's inverse is equal to it's transpose. 119 rotation_mat.transpose(), 120 cc_principal_point_vec, 121 ) 122 wc_shifted_principal_point_vec = wc_shifted_original_vec - principal_point 123 124 translation_vec: np.ndarray = np.matmul( 125 rotation_mat, 126 wc_shifted_principal_point_vec.reshape(-1, 1), 127 ) 128 return rotation_mat, translation_vec
@classmethod
def
generate_translation_vec( cls, rotation_vec: numpy.ndarray, camera_distance: float, principal_point: numpy.ndarray):
130 @classmethod 131 def generate_translation_vec( 132 cls, 133 rotation_vec: np.ndarray, 134 camera_distance: float, 135 principal_point: np.ndarray, 136 ): 137 _, translation_vec = CameraModel.generate_rotation_mat_and_translation_vec( 138 rotation_vec, 139 camera_distance, 140 principal_point, 141 ) 142 return translation_vec
@classmethod
def
generate_extrinsic_mat( cls, rotation_unit_vec: numpy.ndarray, rotation_theta: float, camera_distance: float, principal_point: numpy.ndarray):
144 @classmethod 145 def generate_extrinsic_mat( 146 cls, 147 rotation_unit_vec: np.ndarray, 148 rotation_theta: float, 149 camera_distance: float, 150 principal_point: np.ndarray, 151 ): 152 rotation_vec = CameraModel.generate_rotation_vec(rotation_unit_vec, rotation_theta) 153 rotation_mat, translation_vec = CameraModel.generate_rotation_mat_and_translation_vec( 154 rotation_vec, 155 camera_distance, 156 principal_point, 157 ) 158 extrinsic_mat = np.hstack((rotation_mat, translation_vec.reshape((-1, 1)))) 159 return extrinsic_mat
class
CameraPointProjector(vkit.mechanism.distortion.geometric.grid_rendering.point_projector.PointProjector):
200class CameraPointProjector(PointProjector): 201 202 def __init__( 203 self, 204 point_2d_to_3d_strategy: Point2dTo3dStrategy, 205 camera_model_config: CameraModelConfig, 206 ): 207 self.point_2d_to_3d_strategy = point_2d_to_3d_strategy 208 self.camera_model = CameraModel(camera_model_config) 209 210 def project_points(self, src_points: Union[PointList, PointTuple, Iterable[Point]]): 211 np_3d_points = self.point_2d_to_3d_strategy.generate_np_3d_points(PointTuple(src_points)) 212 camera_2d_points = self.camera_model.project_np_points_from_3d_to_2d(np_3d_points) 213 return PointTuple.from_np_array(camera_2d_points) 214 215 def project_point(self, src_point: Point): 216 return self.project_points(PointTuple.from_point(src_point))[0]
CameraPointProjector( point_2d_to_3d_strategy: vkit.mechanism.distortion.geometric.camera.Point2dTo3dStrategy, camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig)
def
project_points( self, src_points: Union[vkit.element.point.PointList, vkit.element.point.PointTuple, Iterable[vkit.element.point.Point]]):
210 def project_points(self, src_points: Union[PointList, PointTuple, Iterable[Point]]): 211 np_3d_points = self.point_2d_to_3d_strategy.generate_np_3d_points(PointTuple(src_points)) 212 camera_2d_points = self.camera_model.project_np_points_from_3d_to_2d(np_3d_points) 213 return PointTuple.from_np_array(camera_2d_points)
class
DistortionStateCameraOperation(vkit.mechanism.distortion.geometric.grid_rendering.interface.DistortionStateImageGridBased[~_T_CONFIG]):
219class DistortionStateCameraOperation(DistortionStateImageGridBased[_T_CONFIG]): 220 221 @classmethod 222 def complete_camera_model_config( 223 cls, 224 height: int, 225 width: int, 226 camera_model_config: CameraModelConfig, 227 ): 228 if camera_model_config.principal_point \ 229 and camera_model_config.focal_length \ 230 and camera_model_config.camera_distance: 231 return camera_model_config 232 233 # Make a copy. 234 camera_model_config = attrs.evolve(camera_model_config) 235 236 if not camera_model_config.principal_point: 237 camera_model_config.principal_point = [height // 2, width // 2] 238 239 if not camera_model_config.focal_length \ 240 or not camera_model_config.camera_distance: 241 camera_model_config.focal_length = max(height, width) 242 camera_model_config.camera_distance = camera_model_config.focal_length 243 244 return camera_model_config 245 246 def initialize_camera_operation( 247 self, 248 height: int, 249 width: int, 250 grid_size: int, 251 point_2d_to_3d_strategy: Point2dTo3dStrategy, 252 camera_model_config: CameraModelConfig, 253 ): 254 src_image_grid = create_src_image_grid(height, width, grid_size) 255 256 camera_model_config = self.complete_camera_model_config( 257 height, 258 width, 259 camera_model_config, 260 ) 261 point_projector = CameraPointProjector( 262 point_2d_to_3d_strategy, 263 camera_model_config, 264 ) 265 266 self.initialize_image_grid_based(src_image_grid, point_projector)
Abstract base class for generic types.
A generic type is typically declared by inheriting from this class parameterized with one or more type variables. For example, a generic mapping type might be defined as::
class Mapping(Generic[KT, VT]): def __getitem__(self, key: KT) -> VT: ... # Etc.
This class can then be used as follows::
def lookup_name(mapping: Mapping[KT, VT], key: KT, default: VT) -> VT: try: return mapping[key] except KeyError: return default
@classmethod
def
complete_camera_model_config( cls, height: int, width: int, camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig):
221 @classmethod 222 def complete_camera_model_config( 223 cls, 224 height: int, 225 width: int, 226 camera_model_config: CameraModelConfig, 227 ): 228 if camera_model_config.principal_point \ 229 and camera_model_config.focal_length \ 230 and camera_model_config.camera_distance: 231 return camera_model_config 232 233 # Make a copy. 234 camera_model_config = attrs.evolve(camera_model_config) 235 236 if not camera_model_config.principal_point: 237 camera_model_config.principal_point = [height // 2, width // 2] 238 239 if not camera_model_config.focal_length \ 240 or not camera_model_config.camera_distance: 241 camera_model_config.focal_length = max(height, width) 242 camera_model_config.camera_distance = camera_model_config.focal_length 243 244 return camera_model_config
def
initialize_camera_operation( self, height: int, width: int, grid_size: int, point_2d_to_3d_strategy: vkit.mechanism.distortion.geometric.camera.Point2dTo3dStrategy, camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig):
246 def initialize_camera_operation( 247 self, 248 height: int, 249 width: int, 250 grid_size: int, 251 point_2d_to_3d_strategy: Point2dTo3dStrategy, 252 camera_model_config: CameraModelConfig, 253 ): 254 src_image_grid = create_src_image_grid(height, width, grid_size) 255 256 camera_model_config = self.complete_camera_model_config( 257 height, 258 width, 259 camera_model_config, 260 ) 261 point_projector = CameraPointProjector( 262 point_2d_to_3d_strategy, 263 camera_model_config, 264 ) 265 266 self.initialize_image_grid_based(src_image_grid, point_projector)
270class CameraPlaneOnlyConfig(DistortionConfig): 271 camera_model_config: CameraModelConfig 272 grid_size: int
CameraPlaneOnlyConfig( camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig, grid_size: int)
2def __init__(self, camera_model_config, grid_size): 3 self.camera_model_config = camera_model_config 4 self.grid_size = grid_size
Method generated by attrs for class CameraPlaneOnlyConfig.
Inherited Members
275class CameraPlaneOnlyPoint2dTo3dStrategy(Point2dTo3dStrategy): 276 277 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 278 np_2d_points = points.to_smooth_np_array() 279 np_3d_points = np.hstack(( 280 np_2d_points, 281 np.zeros((np_2d_points.shape[0], 1), dtype=np.float32), 282 )) 283 return np_3d_points
class
CameraPlaneOnlyState(vkit.mechanism.distortion.geometric.camera.DistortionStateCameraOperation[vkit.mechanism.distortion.geometric.camera.CameraPlaneOnlyConfig]):
286class CameraPlaneOnlyState(DistortionStateCameraOperation[CameraPlaneOnlyConfig]): 287 288 @classmethod 289 def weights_func(cls, norm_distances: np.ndarray, alpha: float): 290 return alpha / (norm_distances + alpha) 291 292 def __init__( 293 self, 294 config: CameraPlaneOnlyConfig, 295 shape: Tuple[int, int], 296 rng: Optional[RandomGenerator], 297 ): 298 height, width = shape 299 self.initialize_camera_operation( 300 height, 301 width, 302 config.grid_size, 303 CameraPlaneOnlyPoint2dTo3dStrategy(), 304 config.camera_model_config, 305 )
Abstract base class for generic types.
A generic type is typically declared by inheriting from this class parameterized with one or more type variables. For example, a generic mapping type might be defined as::
class Mapping(Generic[KT, VT]): def __getitem__(self, key: KT) -> VT: ... # Etc.
This class can then be used as follows::
def lookup_name(mapping: Mapping[KT, VT], key: KT, default: VT) -> VT: try: return mapping[key] except KeyError: return default
CameraPlaneOnlyState( config: vkit.mechanism.distortion.geometric.camera.CameraPlaneOnlyConfig, shape: Tuple[int, int], rng: Union[numpy.random._generator.Generator, NoneType])
292 def __init__( 293 self, 294 config: CameraPlaneOnlyConfig, 295 shape: Tuple[int, int], 296 rng: Optional[RandomGenerator], 297 ): 298 height, width = shape 299 self.initialize_camera_operation( 300 height, 301 width, 302 config.grid_size, 303 CameraPlaneOnlyPoint2dTo3dStrategy(), 304 config.camera_model_config, 305 )
315class CameraCubicCurveConfig(DistortionConfig): 316 curve_alpha: float 317 curve_beta: float 318 # Clockwise, [0, 180] 319 curve_direction: float 320 curve_scale: float 321 camera_model_config: CameraModelConfig 322 grid_size: int
CameraCubicCurveConfig( curve_alpha: float, curve_beta: float, curve_direction: float, curve_scale: float, camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig, grid_size: int)
2def __init__(self, curve_alpha, curve_beta, curve_direction, curve_scale, camera_model_config, grid_size): 3 self.curve_alpha = curve_alpha 4 self.curve_beta = curve_beta 5 self.curve_direction = curve_direction 6 self.curve_scale = curve_scale 7 self.camera_model_config = camera_model_config 8 self.grid_size = grid_size
Method generated by attrs for class CameraCubicCurveConfig.
Inherited Members
325class CameraCubicCurvePoint2dTo3dStrategy(Point2dTo3dStrategy): 326 327 def __init__( 328 self, 329 height: int, 330 width: int, 331 curve_alpha: float, 332 curve_beta: float, 333 curve_direction: float, 334 curve_scale: float, 335 ): 336 # Plane area. 337 self.height = height 338 self.width = width 339 340 # Curve endpoint slopes. 341 self.curve_alpha = math.tan(np.clip(curve_alpha, -80, 80) / 180 * np.pi) 342 self.curve_beta = math.tan(np.clip(curve_beta, -80, 80) / 180 * np.pi) 343 344 # Plane projection direction. 345 self.curve_direction = (curve_direction % 180) / 180 * np.pi 346 347 self.rotation_mat = np.asarray( 348 [ 349 [ 350 math.cos(self.curve_direction), 351 math.sin(self.curve_direction), 352 ], 353 [ 354 -math.sin(self.curve_direction), 355 math.cos(self.curve_direction), 356 ], 357 ], 358 dtype=np.float32, 359 ) 360 361 corners = np.asarray( 362 [ 363 [0, 0], 364 [self.width - 1, 0], 365 [self.width - 1, self.height - 1], 366 [0, self.height - 1], 367 ], 368 dtype=np.float32, 369 ) 370 rotated_corners = np.matmul(self.rotation_mat, corners.transpose()) 371 self.plane_projection_min = rotated_corners[0].min() 372 self.plane_projection_range = rotated_corners[0].max() - self.plane_projection_min 373 374 self.curve_scale = curve_scale 375 376 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 377 np_2d_points = points.to_smooth_np_array() 378 379 # Project based on theta. 380 plane_projected_points = np.matmul(self.rotation_mat, np_2d_points.transpose()) 381 plane_projected_xs = plane_projected_points[0] 382 plane_projected_ratios = ( 383 plane_projected_xs - self.plane_projection_min 384 ) / self.plane_projection_range 385 386 # Axis-z. 387 poly = np.asarray([ 388 self.curve_alpha + self.curve_beta, 389 -2 * self.curve_alpha - self.curve_beta, 390 self.curve_alpha, 391 0, 392 ]) 393 pos_zs = np.polyval(poly, plane_projected_ratios) 394 pos_zs = pos_zs * self.plane_projection_range * self.curve_scale 395 # Shift mean to zero. 396 pos_zs: np.ndarray = pos_zs - pos_zs.mean() 397 398 np_3d_points = np.hstack((np_2d_points, pos_zs.reshape((-1, 1)))) 399 return np_3d_points
CameraCubicCurvePoint2dTo3dStrategy( height: int, width: int, curve_alpha: float, curve_beta: float, curve_direction: float, curve_scale: float)
327 def __init__( 328 self, 329 height: int, 330 width: int, 331 curve_alpha: float, 332 curve_beta: float, 333 curve_direction: float, 334 curve_scale: float, 335 ): 336 # Plane area. 337 self.height = height 338 self.width = width 339 340 # Curve endpoint slopes. 341 self.curve_alpha = math.tan(np.clip(curve_alpha, -80, 80) / 180 * np.pi) 342 self.curve_beta = math.tan(np.clip(curve_beta, -80, 80) / 180 * np.pi) 343 344 # Plane projection direction. 345 self.curve_direction = (curve_direction % 180) / 180 * np.pi 346 347 self.rotation_mat = np.asarray( 348 [ 349 [ 350 math.cos(self.curve_direction), 351 math.sin(self.curve_direction), 352 ], 353 [ 354 -math.sin(self.curve_direction), 355 math.cos(self.curve_direction), 356 ], 357 ], 358 dtype=np.float32, 359 ) 360 361 corners = np.asarray( 362 [ 363 [0, 0], 364 [self.width - 1, 0], 365 [self.width - 1, self.height - 1], 366 [0, self.height - 1], 367 ], 368 dtype=np.float32, 369 ) 370 rotated_corners = np.matmul(self.rotation_mat, corners.transpose()) 371 self.plane_projection_min = rotated_corners[0].min() 372 self.plane_projection_range = rotated_corners[0].max() - self.plane_projection_min 373 374 self.curve_scale = curve_scale
376 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 377 np_2d_points = points.to_smooth_np_array() 378 379 # Project based on theta. 380 plane_projected_points = np.matmul(self.rotation_mat, np_2d_points.transpose()) 381 plane_projected_xs = plane_projected_points[0] 382 plane_projected_ratios = ( 383 plane_projected_xs - self.plane_projection_min 384 ) / self.plane_projection_range 385 386 # Axis-z. 387 poly = np.asarray([ 388 self.curve_alpha + self.curve_beta, 389 -2 * self.curve_alpha - self.curve_beta, 390 self.curve_alpha, 391 0, 392 ]) 393 pos_zs = np.polyval(poly, plane_projected_ratios) 394 pos_zs = pos_zs * self.plane_projection_range * self.curve_scale 395 # Shift mean to zero. 396 pos_zs: np.ndarray = pos_zs - pos_zs.mean() 397 398 np_3d_points = np.hstack((np_2d_points, pos_zs.reshape((-1, 1)))) 399 return np_3d_points
class
CameraCubicCurveState(vkit.mechanism.distortion.geometric.camera.DistortionStateCameraOperation[vkit.mechanism.distortion.geometric.camera.CameraCubicCurveConfig]):
402class CameraCubicCurveState(DistortionStateCameraOperation[CameraCubicCurveConfig]): 403 404 def __init__( 405 self, 406 config: CameraCubicCurveConfig, 407 shape: Tuple[int, int], 408 rng: Optional[RandomGenerator], 409 ): 410 height, width = shape 411 self.initialize_camera_operation( 412 height, 413 width, 414 config.grid_size, 415 CameraCubicCurvePoint2dTo3dStrategy( 416 height, 417 width, 418 config.curve_alpha, 419 config.curve_beta, 420 config.curve_direction, 421 config.curve_scale, 422 ), 423 config.camera_model_config, 424 )
Abstract base class for generic types.
A generic type is typically declared by inheriting from this class parameterized with one or more type variables. For example, a generic mapping type might be defined as::
class Mapping(Generic[KT, VT]): def __getitem__(self, key: KT) -> VT: ... # Etc.
This class can then be used as follows::
def lookup_name(mapping: Mapping[KT, VT], key: KT, default: VT) -> VT: try: return mapping[key] except KeyError: return default
CameraCubicCurveState( config: vkit.mechanism.distortion.geometric.camera.CameraCubicCurveConfig, shape: Tuple[int, int], rng: Union[numpy.random._generator.Generator, NoneType])
404 def __init__( 405 self, 406 config: CameraCubicCurveConfig, 407 shape: Tuple[int, int], 408 rng: Optional[RandomGenerator], 409 ): 410 height, width = shape 411 self.initialize_camera_operation( 412 height, 413 width, 414 config.grid_size, 415 CameraCubicCurvePoint2dTo3dStrategy( 416 height, 417 width, 418 config.curve_alpha, 419 config.curve_beta, 420 config.curve_direction, 421 config.curve_scale, 422 ), 423 config.camera_model_config, 424 )
433class CameraPlaneLinePoint2dTo3dStrategy(Point2dTo3dStrategy): 434 435 def __init__( 436 self, 437 height: int, 438 width: int, 439 point: Tuple[float, float], 440 direction: float, 441 perturb_vec: Tuple[float, float, float], 442 alpha: float, 443 weights_func: Callable[[np.ndarray, float], np.ndarray], 444 ): 445 # Plane area. 446 self.height = height 447 self.width = width 448 449 # Define a line. 450 self.point = np.asarray(point, dtype=np.float32) 451 direction = (direction % 180) / 180 * np.pi 452 cos_theta = np.cos(direction) 453 sin_theta = np.sin(direction) 454 self.line_params_a_b = np.asarray([sin_theta, -cos_theta], dtype=np.float32) 455 self.line_param_c = -self.point[0] * sin_theta + self.point[1] * cos_theta 456 457 # For weight calculationn. 458 self.distance_max = np.sqrt(height**2 + width**2) 459 self.alpha = alpha 460 self.weights_func = weights_func 461 462 # Deformation vector. 463 self.perturb_vec = np.asarray(perturb_vec, dtype=np.float32) 464 465 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 466 np_2d_points = points.to_smooth_np_array() 467 468 # Calculate weights. 469 distances = np.abs((np_2d_points * self.line_params_a_b).sum(axis=1) + self.line_param_c) 470 norm_distances = distances / self.distance_max 471 weights = self.weights_func(norm_distances, self.alpha) 472 473 # Add weighted fold vector. 474 np_3d_points = np.hstack( 475 (np_2d_points, np.zeros((np_2d_points.shape[0], 1), dtype=np.float32)) 476 ) 477 np_perturb = weights.reshape(-1, 1) * self.perturb_vec 478 # Shift mean to zero. 479 np_perturb -= np_perturb.mean(axis=0) 480 np_3d_points += np_perturb 481 return np_3d_points
CameraPlaneLinePoint2dTo3dStrategy( height: int, width: int, point: Tuple[float, float], direction: float, perturb_vec: Tuple[float, float, float], alpha: float, weights_func: Callable[[numpy.ndarray, float], numpy.ndarray])
435 def __init__( 436 self, 437 height: int, 438 width: int, 439 point: Tuple[float, float], 440 direction: float, 441 perturb_vec: Tuple[float, float, float], 442 alpha: float, 443 weights_func: Callable[[np.ndarray, float], np.ndarray], 444 ): 445 # Plane area. 446 self.height = height 447 self.width = width 448 449 # Define a line. 450 self.point = np.asarray(point, dtype=np.float32) 451 direction = (direction % 180) / 180 * np.pi 452 cos_theta = np.cos(direction) 453 sin_theta = np.sin(direction) 454 self.line_params_a_b = np.asarray([sin_theta, -cos_theta], dtype=np.float32) 455 self.line_param_c = -self.point[0] * sin_theta + self.point[1] * cos_theta 456 457 # For weight calculationn. 458 self.distance_max = np.sqrt(height**2 + width**2) 459 self.alpha = alpha 460 self.weights_func = weights_func 461 462 # Deformation vector. 463 self.perturb_vec = np.asarray(perturb_vec, dtype=np.float32)
465 def generate_np_3d_points(self, points: PointTuple) -> np.ndarray: 466 np_2d_points = points.to_smooth_np_array() 467 468 # Calculate weights. 469 distances = np.abs((np_2d_points * self.line_params_a_b).sum(axis=1) + self.line_param_c) 470 norm_distances = distances / self.distance_max 471 weights = self.weights_func(norm_distances, self.alpha) 472 473 # Add weighted fold vector. 474 np_3d_points = np.hstack( 475 (np_2d_points, np.zeros((np_2d_points.shape[0], 1), dtype=np.float32)) 476 ) 477 np_perturb = weights.reshape(-1, 1) * self.perturb_vec 478 # Shift mean to zero. 479 np_perturb -= np_perturb.mean(axis=0) 480 np_3d_points += np_perturb 481 return np_3d_points
485class CameraPlaneLineFoldConfig(DistortionConfig): 486 fold_point: Tuple[float, float] 487 # Clockwise, [0, 180] 488 fold_direction: float 489 fold_perturb_vec: Tuple[float, float, float] 490 fold_alpha: float 491 camera_model_config: CameraModelConfig 492 grid_size: int
CameraPlaneLineFoldConfig( fold_point: Tuple[float, float], fold_direction: float, fold_perturb_vec: Tuple[float, float, float], fold_alpha: float, camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig, grid_size: int)
2def __init__(self, fold_point, fold_direction, fold_perturb_vec, fold_alpha, camera_model_config, grid_size): 3 self.fold_point = fold_point 4 self.fold_direction = fold_direction 5 self.fold_perturb_vec = fold_perturb_vec 6 self.fold_alpha = fold_alpha 7 self.camera_model_config = camera_model_config 8 self.grid_size = grid_size
Method generated by attrs for class CameraPlaneLineFoldConfig.
Inherited Members
class
CameraPlaneLineFoldState(vkit.mechanism.distortion.geometric.camera.DistortionStateCameraOperation[vkit.mechanism.distortion.geometric.camera.CameraPlaneLineFoldConfig]):
495class CameraPlaneLineFoldState(DistortionStateCameraOperation[CameraPlaneLineFoldConfig]): 496 497 @classmethod 498 def weights_func(cls, norm_distances: np.ndarray, alpha: float): 499 return alpha / (norm_distances + alpha) 500 501 def __init__( 502 self, 503 config: CameraPlaneLineFoldConfig, 504 shape: Tuple[int, int], 505 rng: Optional[RandomGenerator], 506 ): 507 height, width = shape 508 self.initialize_camera_operation( 509 height, 510 width, 511 config.grid_size, 512 CameraPlaneLinePoint2dTo3dStrategy( 513 height=height, 514 width=width, 515 point=config.fold_point, 516 direction=config.fold_direction, 517 perturb_vec=config.fold_perturb_vec, 518 alpha=config.fold_alpha, 519 weights_func=self.weights_func, 520 ), 521 config.camera_model_config, 522 )
Abstract base class for generic types.
A generic type is typically declared by inheriting from this class parameterized with one or more type variables. For example, a generic mapping type might be defined as::
class Mapping(Generic[KT, VT]): def __getitem__(self, key: KT) -> VT: ... # Etc.
This class can then be used as follows::
def lookup_name(mapping: Mapping[KT, VT], key: KT, default: VT) -> VT: try: return mapping[key] except KeyError: return default
CameraPlaneLineFoldState( config: vkit.mechanism.distortion.geometric.camera.CameraPlaneLineFoldConfig, shape: Tuple[int, int], rng: Union[numpy.random._generator.Generator, NoneType])
501 def __init__( 502 self, 503 config: CameraPlaneLineFoldConfig, 504 shape: Tuple[int, int], 505 rng: Optional[RandomGenerator], 506 ): 507 height, width = shape 508 self.initialize_camera_operation( 509 height, 510 width, 511 config.grid_size, 512 CameraPlaneLinePoint2dTo3dStrategy( 513 height=height, 514 width=width, 515 point=config.fold_point, 516 direction=config.fold_direction, 517 perturb_vec=config.fold_perturb_vec, 518 alpha=config.fold_alpha, 519 weights_func=self.weights_func, 520 ), 521 config.camera_model_config, 522 )
532class CameraPlaneLineCurveConfig(DistortionConfig): 533 curve_point: Tuple[float, float] 534 # Clockwise, [0, 180] 535 curve_direction: float 536 curve_perturb_vec: Tuple[float, float, float] 537 curve_alpha: float 538 camera_model_config: CameraModelConfig 539 grid_size: int
CameraPlaneLineCurveConfig( curve_point: Tuple[float, float], curve_direction: float, curve_perturb_vec: Tuple[float, float, float], curve_alpha: float, camera_model_config: vkit.mechanism.distortion.geometric.camera.CameraModelConfig, grid_size: int)
2def __init__(self, curve_point, curve_direction, curve_perturb_vec, curve_alpha, camera_model_config, grid_size): 3 self.curve_point = curve_point 4 self.curve_direction = curve_direction 5 self.curve_perturb_vec = curve_perturb_vec 6 self.curve_alpha = curve_alpha 7 self.camera_model_config = camera_model_config 8 self.grid_size = grid_size
Method generated by attrs for class CameraPlaneLineCurveConfig.
Inherited Members
class
CameraPlaneLineCurveState(vkit.mechanism.distortion.geometric.camera.DistortionStateCameraOperation[vkit.mechanism.distortion.geometric.camera.CameraPlaneLineCurveConfig]):
542class CameraPlaneLineCurveState(DistortionStateCameraOperation[CameraPlaneLineCurveConfig]): 543 544 @classmethod 545 def weights_func(cls, norm_distances: np.ndarray, alpha: float): 546 return 1 - norm_distances**alpha 547 548 def __init__( 549 self, 550 config: CameraPlaneLineCurveConfig, 551 shape: Tuple[int, int], 552 rng: Optional[RandomGenerator], 553 ): 554 height, width = shape 555 self.initialize_camera_operation( 556 height, 557 width, 558 config.grid_size, 559 CameraPlaneLinePoint2dTo3dStrategy( 560 height=height, 561 width=width, 562 point=config.curve_point, 563 direction=config.curve_direction, 564 perturb_vec=config.curve_perturb_vec, 565 alpha=config.curve_alpha, 566 weights_func=self.weights_func, 567 ), 568 config.camera_model_config, 569 )
Abstract base class for generic types.
A generic type is typically declared by inheriting from this class parameterized with one or more type variables. For example, a generic mapping type might be defined as::
class Mapping(Generic[KT, VT]): def __getitem__(self, key: KT) -> VT: ... # Etc.
This class can then be used as follows::
def lookup_name(mapping: Mapping[KT, VT], key: KT, default: VT) -> VT: try: return mapping[key] except KeyError: return default
CameraPlaneLineCurveState( config: vkit.mechanism.distortion.geometric.camera.CameraPlaneLineCurveConfig, shape: Tuple[int, int], rng: Union[numpy.random._generator.Generator, NoneType])
548 def __init__( 549 self, 550 config: CameraPlaneLineCurveConfig, 551 shape: Tuple[int, int], 552 rng: Optional[RandomGenerator], 553 ): 554 height, width = shape 555 self.initialize_camera_operation( 556 height, 557 width, 558 config.grid_size, 559 CameraPlaneLinePoint2dTo3dStrategy( 560 height=height, 561 width=width, 562 point=config.curve_point, 563 direction=config.curve_direction, 564 perturb_vec=config.curve_perturb_vec, 565 alpha=config.curve_alpha, 566 weights_func=self.weights_func, 567 ), 568 config.camera_model_config, 569 )