transformations -> transforms3d

neka-nat · neka-nat · commit c2d68d3bad48 · 2021-03-27T19:38:59.000+09:00
diff --git a/examples/bcpd_nonrigid.py b/examples/bcpd_nonrigid.py
@@ -1,6 +1,6 @@
 import numpy as np
 import open3d as o3
-import transformations as trans
+import transforms3d as t3d
 from probreg import bcpd
 from probreg import callbacks
 import utils
@@ -11,7 +11,6 @@
 cbs = [callbacks.Open3dVisualizerCallback(source, target)]
 tf_param = bcpd.registration_bcpd(source, target,
                                   callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rigid_trans.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.rigid_trans.scale, tf_param.rigid_trans.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rigid_trans.rot)),
+      tf_param.rigid_trans.scale, tf_param.rigid_trans.t)
diff --git a/examples/cpd_affine3d_cuda.py b/examples/cpd_affine3d_cuda.py
@@ -8,7 +8,6 @@
     cp = np
     to_cpu = lambda x: x
 import open3d as o3
-import transformations as trans
 from probreg import cpd
 from probreg import callbacks
 import utils
diff --git a/examples/cpd_nonrigid3d_cuda.py b/examples/cpd_nonrigid3d_cuda.py
@@ -8,7 +8,6 @@
     cp = np
     to_cpu = lambda x: x
 import open3d as o3
-import transformations as trans
 from probreg import cpd
 from probreg import callbacks
 import utils
diff --git a/examples/cpd_rigid.py b/examples/cpd_rigid.py
@@ -1,6 +1,6 @@
 import numpy as np
 import open3d as o3
-import transformations as trans
+import transforms3d as t3d
 from probreg import cpd
 from probreg import callbacks
 import utils
@@ -13,7 +13,6 @@
 cbs = [callbacks.Open3dVisualizerCallback(source, target)]
 tf_param, _, _ = cpd.registration_cpd(source, target,
                                       callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, tf_param.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
+      tf_param.scale, tf_param.t)
diff --git a/examples/cpd_rigid_cuda.py b/examples/cpd_rigid_cuda.py
@@ -8,7 +8,7 @@
     cp = np
     to_cpu = lambda x: x
 import open3d as o3
-import transformations as trans
+import transforms3d as trans
 from probreg import cpd
 from probreg import callbacks
 import utils
@@ -24,7 +24,5 @@
 elapsed = time.time() - start
 print("time: ", elapsed)
 
-rot = trans.identity_matrix()
-rot[:3, :3] = to_cpu(tf_param.rot)
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, to_cpu(tf_param.t))
+print("result: ", np.rad2deg(t3d.euler.mat2euler(to_cpu(tf_param.rot))),
+      tf_param.scale, to_cpu(tf_param.t))
diff --git a/examples/filterreg_deformable.py b/examples/filterreg_deformable.py
@@ -1,6 +1,5 @@
 import copy
 import numpy as np
-import transformations as trans
 import open3d as o3
 from probreg import filterreg
 from probreg import callbacks
diff --git a/examples/filterreg_feature.py b/examples/filterreg_feature.py
@@ -1,5 +1,5 @@
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 from probreg import filterreg
 from probreg import features
 from probreg import callbacks
@@ -16,7 +16,6 @@
                                                   objective_type=objective_type,
                                                   sigma2=1000, feature_fn=features.FPFH(),
                                                   callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, tf_param.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
+      tf_param.scale, tf_param.t)
diff --git a/examples/filterreg_rigid.py b/examples/filterreg_rigid.py
@@ -1,5 +1,5 @@
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 from probreg import filterreg
 from probreg import callbacks
 import utils
@@ -13,7 +13,6 @@
                                                   sigma2=None,
                                                   update_sigma2=True,
                                                   callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, tf_param.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
+      tf_param.scale, tf_param.t)
diff --git a/examples/filterreg_rigid_pt2pl.py b/examples/filterreg_rigid_pt2pl.py
@@ -1,5 +1,5 @@
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 from probreg import filterreg
 from probreg import callbacks
 import utils
@@ -12,7 +12,6 @@
                                                   objective_type=objective_type,
                                                   sigma2=0.01,
                                                   callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, tf_param.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
+      tf_param.scale, tf_param.t)
diff --git a/examples/gmmtree_rigid.py b/examples/gmmtree_rigid.py
@@ -1,5 +1,5 @@
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 from probreg import gmmtree
 from probreg import callbacks
 import utils
@@ -8,7 +8,6 @@
 
 cbs = [callbacks.Open3dVisualizerCallback(source, target)]
 tf_param, _ = gmmtree.registration_gmmtree(source, target, callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, tf_param.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
+      tf_param.scale, tf_param.t)
diff --git a/examples/svr_rigid.py b/examples/svr_rigid.py
@@ -1,5 +1,5 @@
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 from probreg import l2dist_regs
 from probreg import callbacks
 import utils
@@ -8,7 +8,6 @@
 
 cbs = [callbacks.Open3dVisualizerCallback(source, target)]
 tf_param = l2dist_regs.registration_svr(source, target, callbacks=cbs)
-rot = trans.identity_matrix()
-rot[:3, :3] = tf_param.rot
-print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
-      tf_param.scale, tf_param.t)
+
+print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
+      tf_param.scale, tf_param.t)
diff --git a/examples/utils.py b/examples/utils.py
@@ -1,7 +1,7 @@
 import copy
 import numpy as np
 import open3d as o3
-import transformations as trans
+import transforms3d as t3d
 
 
 def estimate_normals(pcd, params):
@@ -25,7 +25,8 @@ def prepare_source_and_target_rigid_3d(source_filename,
     rg = 1.5 * (tp.max(axis=0) - tp.min(axis=0))
     rands = (np.random.rand(n_random, 3) - 0.5) * rg + tp.mean(axis=0)
     target.points = o3.utility.Vector3dVector(np.r_[tp + noise_amp * np.random.randn(*tp.shape), rands])
-    ans = trans.euler_matrix(*orientation)
+    ans = np.identity(4)
+    ans[:3, :3] = t3d.euler.euler2mat(*orientation)
     ans[:3, 3] = translation
     target.transform(ans)
     if normals:
diff --git a/probreg/cost_functions.py b/probreg/cost_functions.py
@@ -3,7 +3,7 @@
 import abc
 import six
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 from . import transformation as tf
 from . import gauss_transform as gt
 from . import se3_op as so
@@ -42,7 +42,7 @@ def __init__(self):
         self._tf_type = tf.RigidTransformation
 
     def to_transformation(self, theta):
-        rot = trans.quaternion_matrix(theta[:4])[:3, :3]
+        rot = t3d.quaternions.quat2mat(theta[:4])
         return self._tf_type(rot, theta[4:7])
 
     def initial(self):
diff --git a/probreg/se3_op.py b/probreg/se3_op.py
@@ -1,7 +1,7 @@
 from __future__ import print_function
 from __future__ import division
 import numpy as np
-import transformations as trans
+import transforms3d as t3d
 
 
 def skew(x):
@@ -69,7 +69,7 @@ def diff_rot_from_quaternion(q):
     Args:
         q (numpy.ndarray): Quaternion.
     """
-    rot = trans.quaternion_matrix(q)[:3, :3]
+    rot = t3d.quaternions.quat2mat(q)
     q2 = np.square(q)
     z = np.sum(q2)
     z2 = z * z
diff --git a/pyproject.toml b/pyproject.toml
@@ -9,8 +9,8 @@ license = "MIT"
 python = "^3.7"
 pybind11 = "^2.6.2"
 six = "^1.15.0"
-transformations = "^2020.1.1"
 scipy = "^1.6.0"
+transforms3d = "^0.3.1"
 scikit-learn = "0.23.1"
 matplotlib = "^3.3.3"
 open3d = "^0.12.0"
diff --git a/setup.py b/setup.py
@@ -254,7 +254,7 @@ def build_extensions(self):
     long_description_content_type='text/markdown',
     ext_modules=ext_modules,
     install_requires=['pybind11>=2.2', 'open3d',
-                      'six', 'transformations', 'scipy',
+                      'six', 'transforms3d', 'scipy',
                       'scikit-learn', 'matplotlib'],
     cmdclass={'build_ext': BuildExt},
     zip_safe=False,
