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fixed reindex in render2d

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This commit is contained in:
Jan Kowalczyk
2025-07-10 09:10:10 +02:00
parent 29d9522170
commit fbd5e9a2d8
1 changed files with 15 additions and 2 deletions
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17
tools/render2d.py
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@@ -175,16 +175,29 @@ def process_frame(args) -> Tuple[int, np.ndarray, Optional[Path]]:
lidar_data["normalized_range"] = 1 / np.sqrt(
lidar_data["x"] ** 2 + lidar_data["y"] ** 2 + lidar_data["z"] ** 2
)
# check for zero values in normalized_range and output the x y and z values for them
zero_range_indices = lidar_data[lidar_data["normalized_range"] == 0].index
if not zero_range_indices.empty:
print(
f"Warning: Found {len(zero_range_indices)} points with zero normalized range at indices: {zero_range_indices.tolist()}"
)
print(
"X, Y, Z values for these points:",
lidar_data.loc[zero_range_indices, ["x", "y", "z"]].to_numpy(),
)
# Set zero values to NaN to avoid issues with training
lidar_data.loc[zero_range_indices, "normalized_range"] = np.nan
projection_data = lidar_data.pivot(
index="vertical_position",
columns="horizontal_position",
values="normalized_range",
)
projection_data = projection_data.reindex(
columns=range(horizontal_resolution), fill_value=0
columns=range(horizontal_resolution), fill_value=np.nan
)
projection_data = projection_data.reindex(
index=range(vertical_resolution), fill_value=0
index=range(vertical_resolution), fill_value=np.nan
)
projection_data, output_horizontal_resolution = crop_projection_data_to_roi(
projection_data, roi_angle_start, roi_angle_width, horizontal_resolution