Merge pull request #501 from Original-Recipe/fix-fisheye-camera

fix: Filter z coordinates greater than 0.01 and valid
open-mmlab · Jul 2, 2024 · fd09acc · fd09acc
2 parents ead1ec0 + 3a46d66
commit fd09acc
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/packages/lb-annotation/src/core/pointCloud/matrix.ts b/packages/lb-annotation/src/core/pointCloud/matrix.ts
@@ -183,6 +183,8 @@ const kbCamFisheyeTransfer = (point: I3DSpaceCoord, calib: ICalib): ICoordinate
   const x = result[0];
   const y = result[1];
   const z = result[2];
+  // Filter z coordinates greater than 0.01 and valid
+  if (!(z >= 0.01 && isFinite(z))) return undefined;
 
   // Extract intrinsic parameters
   const aff_ = [