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Add option to specify camera axis direction #3

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Add option to specify camera axis direction #3

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3 changes: 2 additions & 1 deletion app.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
parser.add_argument('--y_up', action='store_true')
parser.add_argument('--recenter', action='store_true')
parser.add_argument('--rescale', type=float, default=None)
parser.add_argument('--camera_axis', type=str, default='-z')

args = parser.parse_args()

Expand Down Expand Up @@ -61,7 +62,7 @@

images.append(load_image(fpath, sz=args.image_size))

viz = CameraVisualizer(poses, legends, colors, images=images)
viz = CameraVisualizer(poses, legends, colors, images=images, camera_axis=args.camera_axis)
fig = viz.update_figure(args.scene_size, base_radius=1, zoom_scale=1, show_grid=True, show_ticklabels=True, show_background=True, y_up=args.y_up)

fig.show()
26 changes: 18 additions & 8 deletions src/visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,19 +5,26 @@
import numpy as np


def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0):
def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0, camera_axis = '-z'):

fov_rad = np.deg2rad(fov_deg)

cam_x = c2w[0, -1]
cam_y = c2w[1, -1]
cam_z = c2w[2, -1]

corn1 = [np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), -1.0]
corn2 = [-np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), -1.0]
corn3 = [-np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), -1.0]
corn4 = [np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), -1.0]
corn5 = [0, np.tan(fov_rad / 2.0), -1.0]
if camera_axis == '+z':
z_multiplier = -1
elif camera_axis == '-z':
z_multiplier = 1
else:
raise ValueError("Camera axis must be either '+z' or '-z'. It's '-z' by default.")

corn1 = [np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), z_multiplier*-1.0]
corn2 = [-np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), z_multiplier*-1.0]
corn3 = [-np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), z_multiplier*-1.0]
corn4 = [np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), z_multiplier*-1.0]
corn5 = [0, np.tan(fov_rad / 2.0), z_multiplier*-1.0]

corn1 = np.dot(c2w[:3, :3], corn1)
corn2 = np.dot(c2w[:3, :3], corn2)
Expand Down Expand Up @@ -56,10 +63,13 @@ def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0):

class CameraVisualizer:

def __init__(self, poses, legends, colors, images=None, mesh_path=None, camera_x=1.0):
def __init__(self, poses, legends, colors, images=None, mesh_path=None, camera_x=1.0, camera_axis='-z'):
self._fig = None

self._camera_x = camera_x

# Boresight axis of the camera.
self._camera_axis = camera_axis

self._poses = poses
self._legends = legends
Expand Down Expand Up @@ -140,7 +150,7 @@ def update_figure(

edges = [(0, 1), (0, 2), (0, 3), (0, 4), (1, 2), (2, 3), (3, 4), (4, 1), (0, 5)]

cone = calc_cam_cone_pts_3d(pose, fov_deg)
cone = calc_cam_cone_pts_3d(pose, fov_deg, camera_axis=self._camera_axis)
radius = np.linalg.norm(pose[:3, -1])

if self._bit_images and self._bit_images[i]:
Expand Down