Skip to content

K
KincoActuatorIsaacLab
Commit c87ffea0 authored by Mayank Mittal's avatar Mayank Mittal
Browse files
Options

Runs pre-commit formatter over the code

parent dcc33a26
Hide whitespace changes
Inline Side-by-side
Showing with 2 additions and 2 deletions
source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py
View file @ c87ffea0
...@@ -144,9 +144,9 @@ def create_pointcloud_from_depth( ...@@ -144,9 +144,9 @@ def create_pointcloud_from_depth(
depth_cloud = math_utils.unproject_depth(depth, intrinsic_matrix) depth_cloud = math_utils.unproject_depth(depth, intrinsic_matrix)
# convert 3D points to world frame # convert 3D points to world frame
depth_cloud = math_utils.transform_points(depth_cloud, position, orientation) depth_cloud = math_utils.transform_points(depth_cloud, position, orientation)
# keep only valid entries if flag is set
if not keep_invalid: if not keep_invalid:
# keep only valid entries
pts_idx_to_keep = torch.all(torch.logical_and(~torch.isnan(depth_cloud), ~torch.isinf(depth_cloud)), dim=1) pts_idx_to_keep = torch.all(torch.logical_and(~torch.isnan(depth_cloud), ~torch.isinf(depth_cloud)), dim=1)
depth_cloud = depth_cloud[pts_idx_to_keep, ...] depth_cloud = depth_cloud[pts_idx_to_keep, ...]
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment