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fix euclidean depth when as_point3d, better handle points behind camera #311

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Dec 8, 2022
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fix euclidean depth when as_point3d, better handle points behind camera #311

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13 changes: 9 additions & 4 deletions aloscene/depth.py
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Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@ def as_points3d(

y_points = y_points.reshape((-1,))
x_points = x_points.reshape((-1,))
z_points = self.as_tensor().reshape(target_shape)
z_points = z_points.reshape(target_shape)

points_3d_shape = tuple(list(target_shape)[:-1] + [self.H * self.W] + [3])
points_3d = torch.zeros(points_3d_shape, device=self.device)
Expand Down Expand Up @@ -296,9 +296,14 @@ def as_points3d(
)

# find points behind camera
behind = theta > (np.pi / 2)
xy = torch.zeros([*behind.shape[:-1], 2], dtype=torch.bool, device=behind.device)
behind = torch.cat([xy, behind], dim=-1)
behind = (theta > (np.pi / 2)).squeeze()
repeats = []
for name in intrinsic.names:
if name in ["B", "T"]:
behind = behind.unsqueeze(0)
repeats.append(1)
behind = behind.unsqueeze(-1).repeat(repeats + [1, 3])
behind[..., -1] = False

points_3d[..., 0] = x_points - principal_points[..., 0:1]
points_3d[..., 1] = y_points - principal_points[..., 1:]
Expand Down