How to accurately control the generation of vehicle images based on the input angle range?

[Fengzexu]

Awesome work! I want to specify the angle of generating vehicles and precisely generate the corresponding pictures.For example, how to modify the configuration to generate a vehicle on the side?

[dariopavllo]

Hi,

The rendering function takes a camera matrix as input (in the form of a camera-to-world transformation). You can call pose_utils.matrix_to_pose on such a matrix to recover its components (e.g. translation, rotation, focal length in world-to-camera format). Then, you can manipulate the rotation (a quaternion) directly. Finally, you can call pose_utils.pose_to_matrix to obtain the new camera matrix that you need to pass to the renderer.

[Fengzexu]

Thank you for taking the time to answer me. I now want to inferrnce my custom image data with custom camera pose. I want to render the vehicle at the bbox position while maintaining the current image of the vehicle's posture and the relative position of the camera. Do I need to modify the direction of the rays? Do you have any suggestions? Thank you in advance