From ed062b6d7c69c62ebad16b2dbbe98423072a189b Mon Sep 17 00:00:00 2001 From: jwangzzz <j96w@qq.com> Date: Sun, 29 Sep 2019 17:21:33 -0400 Subject: [PATCH] fix redundant steps --- datasets/linemod/dataset.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/datasets/linemod/dataset.py b/datasets/linemod/dataset.py index 3f667d6..b887a81 100755 --- a/datasets/linemod/dataset.py +++ b/datasets/linemod/dataset.py @@ -154,8 +154,7 @@ class PoseDataset(data.Dataset): pt0 = (ymap_masked - self.cam_cx) * pt2 / self.cam_fx pt1 = (xmap_masked - self.cam_cy) * pt2 / self.cam_fy cloud = np.concatenate((pt0, pt1, pt2), axis=1) - cloud = np.add(cloud, -1.0 * target_t) / 1000.0 - cloud = np.add(cloud, target_t / 1000.0) + cloud = cloud / 1000.0 if self.add_noise: cloud = np.add(cloud, add_t) -- GitLab