Function generate_render_pose

dataset_loaders/load_Cambridge.py:208–234

(poses, bds)

    return pose_avg

def generate_render_pose(poses, bds):
    idx = np.random.choice(poses.shape[0])
    c2w=poses[idx]
    print(c2w[:3,:4])
    
    ## Get spiral
    # Get average pose
    up = normalize(poses[:, :3, 1].sum(0))

    # Find a reasonable "focus depth" for this dataset
    close_depth, inf_depth = bds.min()*.9, bds.max()*5.
    dt = .75
    mean_dz = 1./(((1.-dt)/close_depth + dt/inf_depth))
    focal = mean_dz

    # Get radii for spiral path
    shrink_factor = .8
    zdelta = close_depth * .2
    tt = poses[:,:3,3] # ptstocam(poses[:3,3,:].T, c2w).T
    rads = np.percentile(np.abs(tt), 20, 0) # views of 20 degrees
    c2w_path = c2w
    N_views = 120 # number of views in video
    N_rots = 2

    # Generate poses for spiral path
    render_poses = render_path_spiral(c2w_path, up, rads, focal, zdelta, zrate=.5, rots=N_rots, N=N_views)
    return render_poses

def perturb_render_pose(poses, bds, x, angle):
    """