refactor: return_as_image->to_image for depth_to_point_cloud

camtools/project.py

@@ -57,7 +57,7 @@ def depth_to_point_cloud(
  K: np.ndarray,
  T: np.ndarray,
  im_color: np.ndarray = None,
- return_as_image: bool = False,
+ to_image: bool = False,
  ignore_invalid: bool = True,
  scale_factor: float = 1.0,
 ):
@@ -71,7 +71,7 @@ def depth_to_point_cloud(
  K: Intrinsics matrix (3, 3).
  T: Extrinsics matrix (4, 4).
  im_color: Color image (H, W, 3), float32/float64, range [0, 1].
- as_image: If True, returns a dense point cloud with the same shape as the
+ to_image: If True, returns a dense point cloud with the same shape as the
  input depth image (H, W, 3), while ignore_invalid is ignored as the
  invalid depths are not removed. If False, returns a sparse point cloud
  of shape (N, 3) while respecting ignore_invalid flag.
@@ -81,13 +81,13 @@ def depth_to_point_cloud(
  is reduced to half.
 
  Returns:
- - im_color == None, as_image == False:
+ - im_color == None, to_image == False:
  - return: points (N, 3)
- - im_color == None, as_image == True:
+ - im_color == None, to_image == True:
  - return: im_points (H, W, 3)
- - im_color != None, as_image == False:
+ - im_color != None, to_image == False:
  - return: (points (N, 3), colors (N, 3))
- - im_color != None, as_image == True:
+ - im_color != None, to_image == True:
  - return: (im_points (H, W, 3), im_colors (H, W, 3))
  """
  # Sanity checks
@@ -111,8 +111,8 @@ def depth_to_point_cloud(
  raise TypeError("im_color must be of type float32 or float64")
  if im_color.max() > 1.0 or im_color.min() < 0.0:
  raise ValueError("im_color values must be in the range [0, 1]")
- if return_as_image and ignore_invalid:
- print("Warning: ignore_invalid is ignored when return_as_image is True.")
+ if to_image and ignore_invalid:
+ print("Warning: ignore_invalid is ignored when to_image is True.")
  ignore_invalid = False
 
  # Make copies as K may be modified inplace
@@ -174,10 +174,10 @@ def depth_to_point_cloud(
  # (N, 3)
  points_world = convert.from_homo(points_world)
 
- if return_as_image:
+ if to_image:
  assert (
  ignore_invalid == False
- ), "ignore_invalid is ignored when return_as_image is True."
+ ), "ignore_invalid is ignored when to_image is True."
  points_world = points_world.reshape((height, width, 3))
  if im_color is None:
  return points_world