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hofee
2024-10-20 01:03:32 +08:00
parent 7d25777983
commit 5eff15d408
4 changed files with 595 additions and 2 deletions
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4
utils/view_sample_util.py
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@@ -123,7 +123,7 @@ class ViewSampleUtil:
look_at_point_world = look_at_point_world[:3]
cam_position_world = cam_position_world[:3]
forward_vector = cam_position_world - look_at_point_world
forward_vector = look_at_point_world - cam_position_world
forward_vector /= np.linalg.norm(forward_vector)
up_vector = np.array([0, 0, 1])
@@ -162,7 +162,7 @@ class ViewSampleUtil:
cos_angle = np.dot(direction_vector, horizontal_normal) / (np.linalg.norm(direction_vector) * np.linalg.norm(horizontal_normal))
angle = np.arccos(np.clip(cos_angle, -1.0, 1.0))
angle_degree = np.degrees(angle)
if angle_degree < 90 + min_cam_table_included_degree:
if angle_degree > 90 + min_cam_table_included_degree:
filtered_cam_poses.append(cam_pose)
if random.random() < random_view_ratio:
pertube_pose = PoseUtil.get_uniform_pose([0.1, 0.1, 0.1], [3, 3, 3], 0, 180, "cm")