update

2024-10-13 19:47:05 +08:00
parent 41ee79db0c
commit 2f87a2626c
6 changed files with 75 additions and 92 deletions
--- a/utils/view_util.py
+++ b/utils/view_util.py
@@ -91,6 +91,7 @@ class CameraData:
        points = np.linalg.inv(self.intrinsics) @ points                          # 3xN
        points = points.T                                                         # Nx3
        points = points * self.depth_image.flatten()[:, np.newaxis]               # Nx3
+        points = points[points[:, 2] > 0]                                         # Nx3
        return points
    
    @property