nodes/wTechArtist-ComfyUI_VVL_VideoCamera_Advanced
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修复VGGT箭头长度问题: 使用相对长度避免箭头射出画面外

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weiweiliang
2025-05-29 20:33:52 +08:00
parent e1f9d3aa65
commit 6d70090081
1 changed files with 51 additions and 15 deletions
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comfyui_vggt_nodes.py
+51 -15
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@@ -102,8 +102,16 @@ def _create_traj_preview(extrinsic: torch.Tensor) -> torch.Tensor:
positions = np.array(positions)
orientations = np.array(orientations)
if positions.shape[0] < 2:
# 检查数据有效性
if len(positions) == 0:
print("VGGT: 没有有效的相机位姿数据")
return _create_insufficient_data_image()
print(f"VGGT: 处理 {len(positions)} 个相机位姿")
# 即使只有一个位姿也可以显示
if len(positions) == 1:
print("VGGT: 单个相机位姿，将创建简化可视化")
try:
# 使用matplotlib创建3D立体可视化
@@ -132,18 +140,37 @@ def _create_traj_preview(extrinsic: torch.Tensor) -> torch.Tensor:
c='red', s=150, marker='o', label='End', edgecolors='darkred', linewidth=2)
# 添加相机方向指示器（每几个位姿显示一个）
step = max(1, len(positions) // 10)
for i in range(0, len(positions), step):
pos = positions[i]
direction = orientations[i]
if len(positions) > 0 and len(orientations) > 0:
# 安全地计算显示步长，最多显示10个箭头
step = max(1, len(positions) // 10)
# 计算方向向量长度
direction_length = max(0.5, np.linalg.norm(positions.max(axis=0) - positions.min(axis=0)) * 0.1)
direction_scaled = direction * direction_length
# 计算合适的箭头长度
position_range = positions.max(axis=0) - positions.min(axis=0)
scene_scale = np.linalg.norm(position_range)
ax.quiver(pos[0], pos[1], pos[2],
direction_scaled[0], direction_scaled[1], direction_scaled[2],
color='orange', alpha=0.6, arrow_length_ratio=0.1)
# 避免除零，设置最小场景尺度
if scene_scale < 1e-6:
direction_length = 0.5
else:
direction_length = max(0.3, scene_scale * 0.08)
# 绘制箭头，确保索引不越界
arrow_count = 0
for i in range(0, len(positions), step):
if i < len(orientations) and arrow_count < 15: # 最多15个箭头
pos = positions[i]
direction = orientations[i]
# 归一化方向向量，避免异常长度
direction_norm = np.linalg.norm(direction)
if direction_norm > 1e-6:
direction = direction / direction_norm
direction_scaled = direction * direction_length
ax.quiver(pos[0], pos[1], pos[2],
direction_scaled[0], direction_scaled[1], direction_scaled[2],
color='orange', alpha=0.7, arrow_length_ratio=0.15)
arrow_count += 1
# 设置坐标轴
ax.set_xlabel('X (meters)', fontsize=12)
@@ -159,10 +186,19 @@ def _create_traj_preview(extrinsic: torch.Tensor) -> torch.Tensor:
cbar.set_label('Time Progress', fontsize=10)
# 设置相等的坐标轴比例
max_range = np.array([positions.max(axis=0) - positions.min(axis=0)]).max() / 2.0
mid_x = (positions.max(axis=0)[0] + positions.min(axis=0)[0]) * 0.5
mid_y = (positions.max(axis=0)[1] + positions.min(axis=0)[1]) * 0.5
mid_z = (positions.max(axis=0)[2] + positions.min(axis=0)[2]) * 0.5
if len(positions) > 1:
max_range = np.array([positions.max(axis=0) - positions.min(axis=0)]).max() / 2.0
mid_x = (positions.max(axis=0)[0] + positions.min(axis=0)[0]) * 0.5
mid_y = (positions.max(axis=0)[1] + positions.min(axis=0)[1]) * 0.5
mid_z = (positions.max(axis=0)[2] + positions.min(axis=0)[2]) * 0.5
else:
# 单个位姿的情况，设置一个合理的显示范围
max_range = 2.0 # 默认2米的显示范围
mid_x, mid_y, mid_z = positions[0]
# 确保范围不为零
if max_range < 0.1:
max_range = 1.0
ax.set_xlim(mid_x - max_range, mid_x + max_range)
ax.set_ylim(mid_y - max_range, mid_y + max_range)