Function depth_to_pcd

lib/test_utils.py:23–30

(depth, u_u0, v_v0, f, invalid_value=0)

    return u_u0, v_v0

def depth_to_pcd(depth, u_u0, v_v0, f, invalid_value=0):
    mask_invalid = depth <= invalid_value
    depth[mask_invalid] = 0.0
    x = u_u0 / f * depth
    y = v_v0 / f * depth
    z = depth
    pcd = np.stack([x, y, z], axis=2)
    return pcd, ~mask_invalid

def pcd_to_sparsetensor(pcd, mask_valid, voxel_size=0.01, num_points=100000):
    pcd_valid = pcd[mask_valid]