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Commit ed062b6d authored by jwangzzz's avatar jwangzzz
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fix redundant steps

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datasets/linemod/dataset.py
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...@@ -154,8 +154,7 @@ class PoseDataset(data.Dataset): ...@@ -154,8 +154,7 @@ class PoseDataset(data.Dataset):
pt0 = (ymap_masked - self.cam_cx) * pt2 / self.cam_fx pt0 = (ymap_masked - self.cam_cx) * pt2 / self.cam_fx
pt1 = (xmap_masked - self.cam_cy) * pt2 / self.cam_fy pt1 = (xmap_masked - self.cam_cy) * pt2 / self.cam_fy
cloud = np.concatenate((pt0, pt1, pt2), axis=1) cloud = np.concatenate((pt0, pt1, pt2), axis=1)
cloud = np.add(cloud, -1.0 * target_t) / 1000.0 cloud = cloud / 1000.0
cloud = np.add(cloud, target_t / 1000.0)
if self.add_noise: if self.add_noise:
cloud = np.add(cloud, add_t) cloud = np.add(cloud, add_t)
......
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