Function compute_local_scale

demo_render/rgbd_render/camera.py:117–121

Diagonal of the first-N-frames trajectory bounding box.

(c2w_poses: np.ndarray, n_frames: int = 100)

def compute_local_scale(c2w_poses: np.ndarray, n_frames: int = 100) -> float:
    """Diagonal of the first-N-frames trajectory bounding box."""
    n = min(n_frames, len(c2w_poses))
    cam_pos = c2w_poses[:n, :3, 3]
    return max(float(np.linalg.norm(cam_pos.max(0) - cam_pos.min(0))), 1e-3)


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