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problem in velo_points_2_pano funciton #13

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AIGC-newbee opened this issue Jun 12, 2023 · 0 comments

AIGC-newbee commented Jun 12, 2023 •

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I found something illogical in function velo_points_2_pano of Convert_Velo_2_Pano_detail.ipynb;

def velo_points_2_pano(points, v_res, h_res, v_fov, h_fov, depth=False):
    # Projecting to 2D
    x = points[:, 0]
    y = points[:, 1]
    z = points[:, 2]
    dist = np.sqrt(x ** 2 + y ** 2 + z ** 2)

    # project point cloud to 2D point map
    y_img = -(np.arctan2(z, dist) / (v_res * (np.pi / 180)))

Should dist = np.sqrt(x ** 2 + y ** 2) rather than dist = np.sqrt(x ** 2 + y ** 2 + z ** 2)? I discussed with ChatGPT4,0 who also agrees with me.

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