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refactor: improved projection APIs #53

Merged
merged 4 commits into from
Apr 11, 2024
Merged

refactor: improved projection APIs #53

merged 4 commits into from
Apr 11, 2024

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yxlao
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@yxlao yxlao commented Apr 11, 2024

New Functions

  • ct.project.depth_to_point_cloud(): Unifies and replaces the functionality of the removed functions, enabling conversion of depth images to point clouds with
    • optional color information, and
    • option to choose dense image form or point cloud form.
  • ct.convert.to_homo(): Appends a column of ones to a 2D array, converting it to homogeneous coordinates.
  • ct.convert.from_homo(): Converts from homogeneous to Cartesian coordinates by dividing by the last column.

Removed Functions

  • ct.project.im_depth_to_points(): This is replaced by ct.project.depth_to_point_cloud().
  • ct.project.im_depth_to_im_points(): This is replaced by ct.project.depth_to_point_cloud().
  • ct.project.im_depth_im_color_to_points_colors(): This is replaced by ct.project.depth_to_point_cloud().

@yxlao yxlao merged commit 9ab2b92 into main Apr 11, 2024
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@yxlao yxlao deleted the project-api branch April 11, 2024 15:36
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