equator working

playground/polar.py

@@ -2,6 +2,8 @@
 import numpy as np
 import open3d as o3d
 
+np.set_printoptions(precision=4, suppress=True)
+
 
 def euler_to_R(yaw, pitch, roll):
  """
@@ -92,20 +94,33 @@ def polar_to_T_towards_origin(radius, theta, phi):
 
  Args:
  r (float): Radius, distance from the origin.
- theta (float): Inclination, angle in the x-y plane.
- phi (float): Azimuth, angle from the z-axis.
+ theta (float): Inclination, angle w.r.t. positive polar (+z) axis.
+ Range: [0, pi].
+ phi (float): Azimuth, rotation angle from the initial meridian (x-y) plane.
+ Range: [0, 2*pi].
 
  Returns:
  T of shape (4, 4).
  """
+ print(f"radius: {radius:.4f}, theta: {theta:.4f}, phi: {phi:.4f}")
  x = radius * np.sin(theta) * np.cos(phi)
  y = radius * np.sin(theta) * np.sin(phi)
  z = radius * np.cos(theta)
 
- # Camera looking from the origin towards the Y-axis, up is Z-axis.
- init_R = euler_to_R(0, 0, -np.pi / 2)
+ print(f"x: {x:.4f}, y: {y:.4f}, z: {z:.4f}")
+
+ # Before : look at +Z, up is -Y.
+ # After init: look at +X, up is +Z.
+ init_R = euler_to_R(np.pi / 2, 0, -np.pi / 2)
+ theta_R = np.eye(3)
+ phi_R = np.eye(3)
+
+ # Rotating along z axis for phi degrees.
+ theta_R = euler_to_R(phi, 0, 0)
+
+ R = phi_R @ theta_R @ init_R
  pose = np.eye(4)
- pose[:3, :3] = init_R
+ pose[:3, :3] = R
  pose[:3, 3] = [x, y, z]
  T = ct.convert.pose_to_T(pose)
 
@@ -132,8 +147,9 @@ def main():
  # # Create camera at x-y plane in a circle around the origin.
  num_cams = 12
  radius = 1.0
- thetas = np.linspace(0, 2 * np.pi, num_cams, endpoint=False)
- Ts = [polar_to_T_towards_origin(radius, theta, 0) for theta in thetas]
+ thetas = np.linspace(0, np.pi, num_cams, endpoint=False)
+ phis = np.linspace(0, 2 * np.pi, num_cams, endpoint=False)
+ Ts = [polar_to_T_towards_origin(radius, np.pi / 2, phi) for phi in phis]
  Ks = [K for _ in range(num_cams)]
 
  cameras = ct.camera.create_camera_ray_frames(Ks=Ks, Ts=Ts)

pyproject.toml

@@ -32,6 +32,7 @@ Homepage = "https://github.com/yxlao/camtools"
 dev = [
  "black>=22.1.0",
  "pytest>=6.2.2",
+ "ipdb",
 ]
 
 [tool.setuptools]