get_best_view_points

gistfile1.txt

def get_best_view_points(h3d, obj_id, args):
    # obj info
    obj = h3d.objects[obj_id]
    h3d.set_target_object(obj)
    obj_conn_map = h3d.env.house.connMapDict[obj_id][0]
    obj_point_cands = np.argwhere( (obj_conn_map > args.min_conn_dist) & (obj_conn_map <= args.max_conn_dist) )
    # don't search too many for saving time  
    if obj_point_cands.shape[0] > args.num_samples:
        perm = np.random.permutation(obj_point_cands.shape[0])[:args.num_samples]
        obj_point_cands = obj_point_cands[perm]
    # traverse
    points, ious, yaws = [], [], []
    for obj_point in obj_point_cands:
        obj_view, obj_iou, obj_mask = h3d._get_best_yaw_obj_from_pos(obj_id, obj_point, height=1., use_iou=True)
        x, z = h3d.env.house.to_coor(obj_point[0], obj_point[1])
        points.append([x, 1., z, obj_view])
        ious.append(obj_iou)
    # sort 
    points, ious = np.array(points), np.array(ious)
    ixs = (-ious).argsort()  # descending order
    ious = ious[ixs]
    points = points[ixs]
    # return
    return points.tolist(), ious.tolist()