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transformations: preserve dtype in denormalize

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old-commit-hash: cb01ef09194c5b473154626709b6c0161949ec8a
This commit is contained in:
George Hotz
2021-10-19 19:46:35 -07:00
parent 0e89533b19
commit a6c031a9b1
1 changed files with 1 additions and 1 deletions
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common/transformations/camera.py
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@@ -131,7 +131,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
img_pts = np.array(img_pts)
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
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