blenderproc.python.sampler.UniformSO3 module

class blenderproc.python.sampler.UniformSO3.UniformSO3[source]

Bases: object

static _random_quaternion(rand=None)[source]

Return uniform random unit quaternion.

https://github.com/thodan/bop_toolkit/blob/master/bop_toolkit_lib/transform.py

Parameters:rand (Union[List[float], ndarray, None]) – Three independent random variables that are uniformly distributed between 0 and 1.
Return type:ndarray
Returns:Unit quaternion.
blenderproc.python.sampler.UniformSO3.uniformSO3(around_x=True, around_y=True, around_z=True)[source]

Uniformly samples rotations from SO(3). Allows to limit the rotation around Blender World coordinate axes.

Parameters:
  • around_x (bool) – Whether to rotate around X-axis.
  • around_y (bool) – Whether to rotate around Y-axis.
  • around_z (bool) – Whether to rotate around Z-axis.
Return type:

ndarray
Returns:

Sampled rotation in euler angles.