(self, pt)
| 79 | return sph_proj |
| 80 | |
| 81 | def proj_img(self, pt): |
| 82 | sph_proj = self.do_sph_projection(pt) |
| 83 | sph_proj = sph_proj.reshape([self.sph_H, self.sph_W, 1]) |
| 84 | return sph_proj |
| 85 | |
| 86 | def do_top_projection(self, points): |
| 87 | """ Project a pointcloud into a BEV picture |
nothing calls this directly
no test coverage detected