Correcting bug for SemanticKitti.py when using multiple frames
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@ -327,7 +327,7 @@ class SemanticKittiDataset(PointCloudDataset):
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new_coords = new_points - pose0[:3, 3]
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new_coords = new_points - pose0[:3, 3]
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# new_coords = new_coords.dot(pose0[:3, :3])
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# new_coords = new_coords.dot(pose0[:3, :3])
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new_coords = np.sum(np.expand_dims(new_coords, 2) * pose0[:3, :3], axis=1)
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new_coords = np.sum(np.expand_dims(new_coords, 2) * pose0[:3, :3], axis=1)
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new_coords = np.hstack((new_coords, points[:, 3:]))
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new_coords = np.hstack((new_coords, points[rand_order, 3:]))
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# Increment merge count
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# Increment merge count
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merged_points = np.vstack((merged_points, new_points))
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merged_points = np.vstack((merged_points, new_points))
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