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Add re-timing, minimum dt robustness

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This commit is contained in:
Balakumar Sundaralingam
2024-04-25 12:24:17 -07:00
parent d6e600c88c
commit 7362ccd4c2
54 changed files with 4773 additions and 2189 deletions
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6
src/curobo/geom/cv.py
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@@ -47,7 +47,9 @@ def project_depth_to_pointcloud(depth_image: torch.Tensor, intrinsics_matrix: to
@get_torch_jit_decorator()
def get_projection_rays(height: int, width: int, intrinsics_matrix: torch.Tensor):
def get_projection_rays(
height: int, width: int, intrinsics_matrix: torch.Tensor, depth_to_meter: float = 0.001
):
"""Projects numpy depth image to point cloud.
Args:
@@ -82,7 +84,7 @@ def get_projection_rays(height: int, width: int, intrinsics_matrix: torch.Tensor
rays = torch.stack([output_x, output_y, input_z], -1).reshape(
intrinsics_matrix.shape[0], width * height, 3
)
rays = rays * (1.0 / 1000.0)
rays = rays * depth_to_meter
return rays