From c2849ce9bb3d83ac5084dd9a0624aa2eb53311ea Mon Sep 17 00:00:00 2001
From: hofee <64160135+GitHofee@users.noreply.github.com>
Date: Sun, 20 Oct 2024 23:45:44 +0800
Subject: [PATCH] fix bug: view_sample

---
 utils/view_sample_util.py | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/utils/view_sample_util.py b/utils/view_sample_util.py
index 16acf67..7e0eee8 100644
--- a/utils/view_sample_util.py
+++ b/utils/view_sample_util.py
@@ -123,21 +123,24 @@ class ViewSampleUtil:
             look_at_point_world = look_at_point_world[:3]  
             cam_position_world = cam_position_world[:3]    
             
-            forward_vector = look_at_point_world - cam_position_world
+            forward_vector = cam_position_world - look_at_point_world
             forward_vector /= np.linalg.norm(forward_vector)
             
             up_vector = np.array([0, 0, 1])
 
             dot_product = np.dot(forward_vector, up_vector)
             angle = np.degrees(np.arccos(dot_product))
+            right_vector = np.cross(up_vector, forward_vector)
             print(angle)
-            if angle < 110:
-                target_angle = np.random.uniform(110, 150)
+            if angle > 90 - min_cam_table_included_degree:
+                max_angle = 90 - min_cam_table_included_degree
+                min_angle = max(90 - min_cam_table_included_degree*2, 30)
+                target_angle = np.random.uniform(min_angle, max_angle)
                 angle_difference = np.radians(target_angle - angle)
 
                 rotation_axis = np.cross(forward_vector, up_vector)
                 rotation_axis /= np.linalg.norm(rotation_axis)
-                rotation_matrix = PoseUtil.rotation_matrix_from_axis_angle(rotation_axis, angle_difference)
+                rotation_matrix = PoseUtil.rotation_matrix_from_axis_angle(rotation_axis, -angle_difference)
                 new_cam_position_world = np.dot(rotation_matrix, cam_position_world - look_at_point_world) + look_at_point_world
                 cam_position_world = new_cam_position_world
                 forward_vector = cam_position_world - look_at_point_world
@@ -148,7 +151,10 @@ class ViewSampleUtil:
                 corrected_up_vector = np.cross(forward_vector, right_vector)
                 rotation_matrix = np.array([right_vector, corrected_up_vector, forward_vector]).T
             else:
-                rotation_matrix = np.array([right_vector, up_vector, forward_vector]).T
+                right_vector = np.cross(up_vector, forward_vector)
+                right_vector /= np.linalg.norm(right_vector)
+                corrected_up_vector = np.cross(forward_vector, right_vector)
+                rotation_matrix = np.array([right_vector, corrected_up_vector, forward_vector]).T
             cam_pose = np.eye(4)
             cam_pose[:3, :3] = rotation_matrix
             cam_pose[:3, 3] = cam_position_world
@@ -162,7 +168,7 @@ 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")
@@ -172,7 +178,7 @@ class ViewSampleUtil:
             cam_points = np.array([cam_pose[:3, 3] for cam_pose in filtered_cam_poses])
             _, indices = PtsUtil.fps_downsample_point_cloud(cam_points, max_views, require_idx=True)
             filtered_cam_poses = [filtered_cam_poses[i] for i in indices]
-        
+            
         return np.array(filtered_cam_poses)
         
     @staticmethod