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scene_bounds.py
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scene_bounds.py
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import numpy as np
def get_scene_bounds(scene_name, voxel_size, interp=False):
if scene_name == 'scene0000':
x_min, x_max = -1.2, 1.2
y_min, y_max = -0.1, 1.1
z_min, z_max = -1.2, 1.2
elif scene_name == 'scene0002':
x_min, x_max = -1.2, 1.2
y_min, y_max = -0.1, 1.5
z_min, z_max = -1.2, 1.2
elif scene_name == 'scene0005':
x_min, x_max = -1.38, 1.42
y_min, y_max = -0.1, 0.9
z_min, z_max = -1.22, 1.58
elif scene_name == 'scene0012':
x_min, x_max = -1.2, 1.2
y_min, y_max = -0.1, 1.1
z_min, z_max = -1.2, 1.2
elif scene_name == 'scene0050':
x_min, x_max = -1.0, 1.0
y_min, y_max = 0.0, 1.6
z_min, z_max = -1.0, 1.0
elif scene_name == 'scene0054':
x_min, x_max = -1.4, 1.4
y_min, y_max = -0.3, 1.4
z_min, z_max = -1.4, 1.4
elif scene_name == 'whiteroom':
x_min, x_max = -1.2, 1.0
y_min, y_max = -1.3, 0.9
z_min, z_max = -0.8, 0.8
elif scene_name == 'kitchen':
x_min, x_max = -1.0, 1.4
y_min, y_max = -1.4, 1.0
z_min, z_max = -0.8, 1.0
elif scene_name == 'breakfast':
x_min, x_max = -1.0, 1.0
y_min, y_max = -0.9, 0.9
z_min, z_max = -1.0, 1.1
elif scene_name == 'staircase':
x_min, x_max = -1.2, 1.1
y_min, y_max = -1.1, 1.2
z_min, z_max = -0.8, 1.2
elif scene_name == 'icl_living_room':
x_min, x_max = -1.1, 1.1
y_min, y_max = -1.1, 1.1
z_min, z_max = -0.6, 0.5
elif scene_name == 'complete_kitchen':
x_min, x_max = -1.2, 1.2
y_min, y_max = -0.9, 0.9
z_min, z_max = -0.6, 0.6
elif scene_name == 'green_room':
x_min, x_max = -0.85, 0.65
y_min, y_max = -1.1, 1.1
z_min, z_max = -0.8, 0.6
elif scene_name == 'grey_white_room':
x_min, x_max = -0.62, 0.62
y_min, y_max = -0.83, 0.83
z_min, z_max = -0.56, 0.6
elif scene_name == 'morning_apartment':
x_min, x_max = -0.86, 0.86
y_min, y_max = -1.0, 0.94
z_min, z_max = -0.75, 0.75
elif scene_name == 'thin_objects':
x_min, x_max = -0.25, 1.45
y_min, y_max = 0.1, 1.7
z_min, z_max = -1.25, 0.0
else:
x_min, x_max = -1.0, 1.0
y_min, y_max = -1.0, 1.0
z_min, z_max = -1.0, 1.0
if interp:
x_min = x_min - 0.5 * voxel_size
y_min = y_min - 0.5 * voxel_size
z_min = z_min - 0.5 * voxel_size
x_max = x_max + 0.5 * voxel_size
y_max = y_max + 0.5 * voxel_size
z_max = z_max + 0.5 * voxel_size
Nx = round((x_max - x_min) / voxel_size + 0.0005)
Ny = round((y_max - y_min) / voxel_size + 0.0005)
Nz = round((z_max - z_min) / voxel_size + 0.0005)
tx = np.linspace(x_min, x_max, Nx + 1)
ty = np.linspace(y_min, y_max, Ny + 1)
tz = np.linspace(z_min, z_max, Nz + 1)
return tx, ty, tz