No visible points pitfall.

[AlexMorgand]

In some cases, we can call generate_see3d_camera_by_lookat_all_plane with an empty visible_points.

Maybe worth skipping the camera selection selection in that case?

+        if len(plane_valid_cam_centers) == 0:
+            continue
+
         # 3. Select camera center (choose optimal position from visible points)

[DaLi-Jack]

Yes, you can certainly do that.
However, I’m a bit confused, because in the code we only generate look-at views for the largest top-k planes (see here ). If one of these relatively large planes ends up having no visible points at all, it may indicate that the plane alignment is not reliable, which could be harmful to the reconstruction quality.
If skipping it with continue still fails to obtain good results, I’d recommend adjusting your input views to ensure that most regions of the scene are well observed.
Let me know if you have further questions!