From 541c742ce13b1eb70e9fab91c52b89bad62c04e6 Mon Sep 17 00:00:00 2001 From: Naoki Yokoyama Date: Fri, 18 Aug 2023 11:37:21 -0400 Subject: [PATCH] value_map cone generation fixed; treating depths as distances along optical axis, not euclidean distances --- zsos/mapping/value_map.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/zsos/mapping/value_map.py b/zsos/mapping/value_map.py index c99db63..9d9a426 100644 --- a/zsos/mapping/value_map.py +++ b/zsos/mapping/value_map.py @@ -230,8 +230,8 @@ def _get_visible_mask(self, depth: np.ndarray) -> np.ndarray: # Assign each value in the row with an x, y coordinate depending on 'angles' # and the max depth value for that column - x = depth_row * np.cos(angles) - y = depth_row * np.sin(angles) + x = depth_row + y = depth_row * np.tan(angles) # Get blank cone mask cone_mask = self._get_confidence_mask()