From dbef0a1cd4b474753b157e38a60f7b43cd9578ae Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Thu, 6 Jan 2022 18:23:40 -0800 Subject: [PATCH] Camera transforms: denormalize with no bounds at all --- common/transformations/camera.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 623e026a2..7573877a3 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -133,10 +133,12 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf img_pts = np.atleast_2d(img_pts) img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype))) img_pts_denormalized = img_pts.dot(intrinsics.T) - img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan - img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan - img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan - img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan + if np.isfinite(width): + img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan + if np.isfinite(height): + img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan return img_pts_denormalized[:, :2].reshape(input_shape)