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import numpy as np |
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from scipy.spatial.transform import Rotation |
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def crop_map(raster, xy, size, seed=None): |
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h, w = raster.shape[-2:] |
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state = np.random.RandomState(seed) |
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top = state.randint(0, h - size + 1) |
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left = state.randint(0, w - size + 1) |
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raster = raster[..., top : top + size, left : left + size] |
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xy -= np.array([left, top]) |
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return raster, xy |
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def decompose_rotmat(R_c2w): |
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R_cv2xyz = Rotation.from_euler("X", -90, degrees=True) |
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rot_w2c = R_cv2xyz * Rotation.from_matrix(R_c2w).inv() |
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roll, pitch, yaw = rot_w2c.as_euler("YXZ", degrees=True) |
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return roll, pitch, yaw |
