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Render

[source]

compute_modelview_matrices

paz.backend.render.compute_modelview_matrices(camera_origin, world_origin, roll=None, translate=None)

Compute model-view matrices from camera to origin and origin to camera.

Arguments

  • camera_origin: Numpy-array of length 3 determining the camera origin
  • world_origin: Numpy-array of length 3 determining the world origin
  • roll: None or float. If None no roll is performed. If float

value should be between [0, 2*pi)

Returns

Transformation from camera to world and world to camera.

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get_look_at_transform

paz.backend.render.get_look_at_transform(camera_position, target_position)

Make transformation from target position to camera position with orientation looking at the target position.

Arguments

  • camera_position: Numpy-array of length 3. Camera position.
  • target_position: Numpy-array of length 3. Target position.

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random_perturbation

paz.backend.render.random_perturbation(localization, shift)

Adds noise to 'localization' vector coordinates.

Arguments

  • localization: List of 3 floats.
  • shift: Float indicating a uniform distribution [-shift, shift].

Returns

perturbed localization

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random_translation

paz.backend.render.random_translation(localization, shift)

Adds noise to 'localization' vector coordinates.

Arguments

  • localization: List of 3 floats.
  • shift: Float indicating a uniform distribution [-shift, shift]. Returns

perturbed localization

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roll_camera

paz.backend.render.roll_camera(world_to_camera, angle)

Roll camera coordinate system.

Arguments:

  • world_to_camera: Numpy array containing the affine transformation.
  • max_roll: 'None' or float. If None, the camera is not rolled. If float it should be a value between [0, 2*pi)

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sample_point_in_full_sphere

paz.backend.render.sample_point_in_full_sphere(distance=1.0)

Get a point of the top of the unit sphere.

Arguments

  • distance: Float, indicating distance to origin.

Returns

  • sphere_point: List of spatial coordinates of a sphere.

[source]

sample_point_in_sphere

paz.backend.render.sample_point_in_sphere(distance, top_only=False)

Samples random points from a sphere

Arguments

  • distance: Float, indicating distance to origin.

Returns:

List of spatial coordinates of a sphere.

[source]

sample_point_in_top_sphere

paz.backend.render.sample_point_in_top_sphere(distance=1.0)

Get a point of the top of the unit sphere.

Arguments

  • distance: Float, indicating distance to origin.

Returns

  • sphere_point: List of spatial coordinates of a sphere.

[source]

sample_uniformly

paz.backend.render.sample_uniformly(value)

Samples from a uniform distribution.

Arguments

  • values: List or float. If list it must have [min_value, max_value].

Returns

Float

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scale_translation

paz.backend.render.scale_translation(matrix, scale=10.0)

Changes the scale of the translation vector. Used for changing the regression problem to a bigger scale.

Arguments:

  • matrix: Numpy array of shape [4, 4]
  • scale: Float used to multiple all the translation component.

Returns:

Numpy array of shape [4, 4]

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split_alpha_channel

paz.backend.render.split_alpha_channel(image)

Splits alpha channel from an RGBD image.

Arguments

  • image: Numpy array of shape [H, W, 4]

Returns

List of two numpy arrays of shape [H, W, 3] and [H, W]

[source]

translate_camera

paz.backend.render.translate_camera(world_to_camera, translation)

Translate camera coordinate system in its XY plane.

Arguments:

  • world_to_camera: Numpy array containing the affine transformation.
  • translation: List or array with two inputs.