Update helpers.py

helpers.py

@@ -131,15 +131,17 @@ def get_projections(img_W, img_H):
     data = {}
     for scale_3d in scale_3ds:
         scene_size = (4.8, 4.8, 2.88)
-        vox_origin = np.array([-1.54591799,  0.8907361 , -0.05 ])
+        vox_origin = np.array([-1.54591799,  0.8907361, -0.05])
         voxel_size = 0.08
 
-        #calib = read_calib("/monoscene/MonoScene/calib.txt")
+        calib = read_calib("/monoscene/MonoScene/calib.txt")
         cam_k = np.array([[518.8579, 0, 320], [0, 518.8579, 240], [0, 0, 1]])
-        cam_pose = np.asarray([[ 9.6699458e-01,  4.2662762e-02,  2.5120059e-01,  0.0000000e+00],
-       [-2.5147417e-01,  1.0867463e-03,  9.6786356e-01,  0.0000000e+00],
-       [ 4.1018680e-02, -9.9908894e-01,  1.1779292e-02,  1.1794727e+00],
-       [ 0.0000000e+00,  0.0000000e+00,  0.0000000e+00,  1.0000000e+00]])
+        cam_pose = np.asarray([[9.6699458e-01,  4.2662762e-02,  2.5120059e-01,  0.0000000e+00],
+                               [-2.5147417e-01,  1.0867463e-03,
+                                   9.6786356e-01,  0.0000000e+00],
+                               [4.1018680e-02, -9.9908894e-01,
+                                   1.1779292e-02,  1.1794727e+00],
+                               [0.0000000e+00,  0.0000000e+00,  0.0000000e+00,  1.0000000e+00]])
         T_velo_2_cam = np.linalg.inv(cam_pose)
 
         # compute the 3D-2D mapping
@@ -159,7 +161,6 @@ def get_projections(img_W, img_H):
     return data
 
 
-
 def majority_pooling(grid, k_size=2):
     result = np.zeros(
         (grid.shape[0] // k_size, grid.shape[1] //