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utils.py
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utils.py
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import numpy as np
import math
def euler2rotm(theta):
R_x = np.array([[1, 0, 0 ],
[0, math.cos(theta[0]), -math.sin(theta[0]) ],
[0, math.sin(theta[0]), math.cos(theta[0]) ]
])
R_y = np.array([[math.cos(theta[1]), 0, math.sin(theta[1]) ],
[0, 1, 0 ],
[-math.sin(theta[1]), 0, math.cos(theta[1]) ]
])
R_z = np.array([[math.cos(theta[2]), -math.sin(theta[2]), 0],
[math.sin(theta[2]), math.cos(theta[2]), 0],
[0, 0, 1]
])
R = np.dot(R_z, np.dot( R_y, R_x ))
return R
def save_rgb(rgb_img, rgb_path):
from PIL import Image
im = Image.fromarray(rgb_img)
im.save(rgb_path)
def save_depth(depth_img, depth_path):
np.save(depth_path, depth_img)