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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 |
