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)
-- 
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