update changes

Author: Yu Sun

romp/lib/utils/util.py

@@ -402,7 +402,7 @@ def calc_obb(ptSets):
 #__________________transform tools_______________________
 
 
-def transform_rot_representation(rot, input_type='mat',out_type='vec'):
+def transform_rot_representation(rot, input_type='mat',out_type='quat',input_is_degrees=True):
     '''
     make transformation between different representation of 3D rotation
     input_type / out_type (np.array):
@@ -418,9 +418,7 @@ def transform_rot_representation(rot, input_type='mat',out_type='vec'):
     elif input_type =='vec':
         r = R.from_rotvec(rot)
     elif input_type =='euler':
-        if rot.max()<4:
-            rot = rot*180/np.pi
-        r = R.from_euler('xyz',rot, degrees=True)
+        r = R.from_euler('xyz',rot, degrees=input_is_degrees)
 
     if out_type=='mat':
         out = r.as_matrix()

simple_romp/bev/main.py

@@ -53,6 +53,7 @@ def bev_settings(input_args=sys.argv[1:]):
     # not support temporal processing now
     parser.add_argument('-t', '--temporal_optimize', action='store_true', help = 'Whether to use OneEuro filter to smooth the results')
     parser.add_argument('-sc','--smooth_coeff', type=float, default=3., help = 'The smoothness coeff of OneEuro filter, the smaller, the smoother.')
+    parser.add_argument('--webcam_id',type=int, default=0, help = 'The Webcam ID.')
     args = parser.parse_args(input_args)
 
     if args.model_id != 2:
@@ -304,7 +305,7 @@ def main():
             saver.save_video(video_save_path, frame_rate=args.frame_rate)
 
     if args.mode == 'webcam':
-        cap = WebcamVideoStream(0)
+        cap = WebcamVideoStream(args.webcam_id)
         cap.start()
         while True:
             frame = cap.read()

simple_romp/romp/main.py

@@ -37,6 +37,7 @@ def romp_settings(input_args=sys.argv[1:]):
     parser.add_argument('--model_path', type=str, default=osp.join(osp.expanduser("~"),'.romp','ROMP.pkl'), help = 'The path of ROMP checkpoint')
     parser.add_argument('--model_onnx_path', type=str, default=osp.join(osp.expanduser("~"),'.romp','ROMP.onnx'), help = 'The path of ROMP onnx checkpoint')
     parser.add_argument('--root_align',type=bool, default=False, help = 'Please set this config as True to use the ROMP checkpoints trained by yourself.')
+    parser.add_argument('--webcam_id',type=int, default=0, help = 'The Webcam ID.')
     args = parser.parse_args(input_args)
 
     if not torch.cuda.is_available():
@@ -194,7 +195,7 @@ def main():
             saver.save_video(video_save_path, frame_rate=args.frame_rate)
 
     if args.mode == 'webcam':
-        cap = WebcamVideoStream(0)
+        cap = WebcamVideoStream(args.webcam_id)
         cap.start()
         while True:
             frame = cap.read()

simple_romp/romp/utils.py

@@ -683,7 +683,7 @@ def rotation_matrix_to_quaternion(rotation_matrix, eps=1e-6):
 
 
 
-def transform_rot_representation(rot, input_type='mat',out_type='vec'):
+def transform_rot_representation(rot, input_type='mat',out_type='quat',input_is_degrees=True):
     '''
     make transformation between different representation of 3D rotation
     input_type / out_type (np.array):
@@ -692,17 +692,14 @@ def transform_rot_representation(rot, input_type='mat',out_type='vec'):
         'vec': rotation vector (3)
         'euler': Euler degrees in x,y,z (3)
     '''
-    from scipy.spatial.transform import Rotation as R
     if input_type=='mat':
         r = R.from_matrix(rot)
     elif input_type=='quat':
         r = R.from_quat(rot)
     elif input_type =='vec':
         r = R.from_rotvec(rot)
     elif input_type =='euler':
-        if rot.max()<4:
-            rot = rot*180/np.pi
-        r = R.from_euler('xyz',rot, degrees=True)
+        r = R.from_euler('xyz',rot, degrees=input_is_degrees)
 
     if out_type=='mat':
         out = r.as_matrix()