From b6fd96ef276004139396a80885265e4ce0c18931 Mon Sep 17 00:00:00 2001 From: dingjian Date: Mon, 1 Jul 2024 19:51:26 +0800 Subject: [PATCH 1/2] fix: Filter z coordinates less than 0.01 and valid --- packages/lb-annotation/src/core/pointCloud/matrix.ts | 2 ++ 1 file changed, 2 insertions(+) diff --git a/packages/lb-annotation/src/core/pointCloud/matrix.ts b/packages/lb-annotation/src/core/pointCloud/matrix.ts index 496d5c208..b038362f8 100644 --- 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 less than 0.01 and valid + if (!(z >= 0.01 && isFinite(z))) return undefined; // Extract intrinsic parameters const aff_ = [ From 3a46d66aca4acbc27215f532548e635809154c01 Mon Sep 17 00:00:00 2001 From: Original-Recipe-Chicken Date: Mon, 1 Jul 2024 19:55:44 +0800 Subject: [PATCH 2/2] Update annotation --- packages/lb-annotation/src/core/pointCloud/matrix.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/packages/lb-annotation/src/core/pointCloud/matrix.ts b/packages/lb-annotation/src/core/pointCloud/matrix.ts index b038362f8..c84ae5f3b 100644 --- a/packages/lb-annotation/src/core/pointCloud/matrix.ts +++ b/packages/lb-annotation/src/core/pointCloud/matrix.ts @@ -183,7 +183,7 @@ const kbCamFisheyeTransfer = (point: I3DSpaceCoord, calib: ICalib): ICoordinate const x = result[0]; const y = result[1]; const z = result[2]; - // Filter z coordinates less than 0.01 and valid + // Filter z coordinates greater than 0.01 and valid if (!(z >= 0.01 && isFinite(z))) return undefined; // Extract intrinsic parameters