Correcting bug for SemanticKitti.py when using multiple frames

hetao255 · May 12, 2021 · 9a49147 · 9a49147
1 parent 7fefb6a
commit 9a49147
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/datasets/SemanticKitti.py b/datasets/SemanticKitti.py
@@ -327,7 +327,7 @@ def __getitem__(self, batch_i):
                     new_coords = new_points - pose0[:3, 3]
                     # new_coords = new_coords.dot(pose0[:3, :3])
                     new_coords = np.sum(np.expand_dims(new_coords, 2) * pose0[:3, :3], axis=1)
-                    new_coords = np.hstack((new_coords, points[:, 3:]))
+                    new_coords = np.hstack((new_coords, points[rand_order, 3:]))
 
                 # Increment merge count
                 merged_points = np.vstack((merged_points, new_points))