pose_utils.py 文件源码

def __init__(self, theta=np.deg2rad(20), displacement=0.25, lookup_history=10, 
                 get_sample=lambda item: item.pose,  
                 on_sampled_cb=lambda index, item: None, verbose=False): 
        PoseSampler.__init__(self, displacement=displacement, theta=theta, 
                             lookup_history=lookup_history, 
                             get_sample=get_sample, 
                             on_sampled_cb=on_sampled_cb, verbose=verbose)

# class KeyframeVolumeSampler(FrustumVolumeIntersectionPoseSampler): 
#     def __init__(self, iou=0.5, depth=20, fov=np.deg2rad(60), lookup_history=10, 
#                  get_sample=lambda item: item.pose,  
#                  on_sampled_cb=lambda index, item: None, verbose=False): 
#         FrustumVolumeIntersectionPoseSampler.__init__(self, iou=iou, depth=depth, fov=fov, 
#                                                       lookup_history=lookup_history, 
#                                                       get_sample=get_sample, 
#                                                       on_sampled_cb=on_sampled_cb, verbose=verbose)