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First, second and last column of light curtain image are all NaNs #6

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siddancha opened this issue May 4, 2020 · 2 comments
Open

First, second and last column of light curtain image are all NaNs #6

siddancha opened this issue May 4, 2020 · 2 comments

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@siddancha
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In the output light curtain image, i.e. pylc_output.images_multi[0][0] (link), which is of size HxWx4, the first, second and last column of the image have x, y, z equal to NaN. This happens even when the laser FOV is set to a very large value (179°).
@siddancha
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Example case with design points, depth image, and light curtain parameters.

Run python failure.py with data.npy in the same folder.

data.zip

@soulslicer
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findIntersectionOpt fails if points provided lie exactly on ray.

Quick fix is either to add epsilon to the provided input, or to provide an API to disable this interpolator

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@soulslicer @siddancha