(
self,
pc,
color,
conf=None,
edge_color=[0.251, 0.702, 0.902],
set_border_color=False,
)
| 620 | return pcs, step_list |
| 621 | |
| 622 | def parse_pc_data( |
| 623 | self, |
| 624 | pc, |
| 625 | color, |
| 626 | conf=None, |
| 627 | edge_color=[0.251, 0.702, 0.902], |
| 628 | set_border_color=False, |
| 629 | ): |
| 630 | |
| 631 | pred_pts = pc.reshape(-1, 3) # [N, 3] |
| 632 | |
| 633 | if set_border_color and edge_color is not None: |
| 634 | color = self.set_color_border(color[0], color=edge_color) |
| 635 | if np.isnan(color).any(): |
| 636 | |
| 637 | color = np.zeros((pred_pts.shape[0], 3)) |
| 638 | color[:, 2] = 1 |
| 639 | else: |
| 640 | color = color.reshape(-1, 3) |
| 641 | if conf is not None: |
| 642 | conf = conf[0].reshape(-1) |
| 643 | pred_pts = pred_pts[conf > self.vis_threshold] |
| 644 | color = color[conf > self.vis_threshold] |
| 645 | return pred_pts, color |
| 646 | |
| 647 | def add_pc(self, step): |
| 648 | pc = self.pcs[step]["pc"] |
no test coverage detected