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Correcting bug for SemanticKitti.py when using multiple frames

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HuguesTHOMAS 2021-05-12 10:01:36 -04:00
parent 7fefb6a8d3
commit 9a491475b5
1 changed files with 1 additions and 1 deletions
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datasets/SemanticKitti.py
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@ -327,7 +327,7 @@ class SemanticKittiDataset(PointCloudDataset):
new_coords = new_points - pose0[:3, 3] new_coords = new_points - pose0[:3, 3]
# new_coords = new_coords.dot(pose0[:3, :3]) # new_coords = new_coords.dot(pose0[:3, :3])
new_coords = np.sum(np.expand_dims(new_coords, 2) * pose0[:3, :3], axis=1) new_coords = np.sum(np.expand_dims(new_coords, 2) * pose0[:3, :3], axis=1)
new_coords = np.hstack((new_coords, points[:, 3:])) new_coords = np.hstack((new_coords, points[rand_order, 3:]))
# Increment merge count # Increment merge count
merged_points = np.vstack((merged_points, new_points)) merged_points = np.vstack((merged_points, new_points))