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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)
|
| return roll, pitch, yaw |
