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7d2eeb9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | import numpy as np
from scipy.spatial.transform import Rotation as R
def generate_intrinsic(width, height, hfov, vfov):
intrinsic = np.eye(3)
intrinsic[0][0] = width / (2 * (np.tan(np.deg2rad(hfov)/2)))
intrinsic[1][1] = height / (2 * (np.tan(np.deg2rad(vfov)/2)))
intrinsic[0][2] = width / 2
intrinsic[1][2] = height / 2
return intrinsic
def build_transformation_mat(translation, rotation):
translation = np.array(translation)
rotation = np.array(rotation)
mat = np.eye(4)
if translation.shape[0] == 3:
mat[:3, 3] = translation
else:
raise RuntimeError(f"Translation has invalid shape: {translation.shape}. Must be (3,) or (3,1) vector.")
if rotation.shape == (3, 3):
mat[:3, :3] = rotation
elif rotation.shape[0] == 3:
mat[:3, :3] = np.array(R.from_euler('xyz',rotation).as_matrix())
else:
raise RuntimeError(f"Rotation has invalid shape: {rotation.shape}. Must be rotation matrix of shape "
f"(3,3) or Euler angles of shape (3,) or (3,1).")
return mat |