lz1oceani / pointcloud_rl

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what is uv1 while calculating xyz coordinates of pointcloud? #3

Open kbkartik opened 2 months ago

kbkartik commented 2 months ago

In the motivating example, what does the uv1 matrix signify?

    `xyz = uv1 @ self.inv_intrinsic.T * depth[..., None]`
xuanlinli17 commented 1 month ago

uv coordinates of an image with 1 appended, i.e., [[u, v, 1]]; uv1 has shape [batch, 3]