fix #1 (change waymo_extractor to waymo_toolkit)

DapengFeng · Apr 15, 2020 · 005b3a5 · 005b3a5
1 parent ca1896b
commit 005b3a5
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Showing 4 changed files with 8 additions and 9 deletions.
diff --git a/waymo_toolkit/extractor/image.py b/waymo_toolkit/extractor/image.py
@@ -4,8 +4,8 @@
 import numpy as np
 import tensorflow as tf
 
-from waymo_extractor.protos import dataset_pb2 as open_dataset
-from waymo_extractor.utils.logger import setup_logger
+from waymo_toolkit.protos import dataset_pb2 as open_dataset
+from waymo_toolkit.utils.logger import setup_logger
 
 from .extractor import Extractor
 

diff --git a/waymo_toolkit/extractor/label.py b/waymo_toolkit/extractor/label.py
@@ -2,8 +2,8 @@
 
 import tensorflow as tf
 
-from waymo_extractor.protos import annotation_pb2 as annotation
-from waymo_extractor.utils.logger import setup_logger
+from waymo_toolkit.protos import annotation_pb2 as annotation
+from waymo_toolkit.utils.logger import setup_logger
 
 from .extractor import Extractor
 

diff --git a/waymo_toolkit/extractor/laser.py b/waymo_toolkit/extractor/laser.py
@@ -4,9 +4,9 @@
 import tensorflow as tf
 from waymo_open_dataset.utils.frame_utils import parse_range_image_and_camera_projection
 
-from waymo_extractor.protos import dataset_pb2 as open_dataset
-from waymo_extractor.utils.frame_utils import convert_range_image_to_point_cloud
-from waymo_extractor.utils.logger import setup_logger
+from waymo_toolkit.protos import dataset_pb2 as open_dataset
+from waymo_toolkit.utils.frame_utils import convert_range_image_to_point_cloud
+from waymo_toolkit.utils.logger import setup_logger
 
 from .extractor import Extractor
 

diff --git a/waymo_toolkit/viewer/viewer_3d.py b/waymo_toolkit/viewer/viewer_3d.py
@@ -21,8 +21,7 @@ def __init__(self, args):
 
     def _keep(self, pcl: np.ndarray, plane: np.ndarray, threshold: float) -> np.ndarray:
         z_min = np.percentile(pcl[:, -1], 10)
-        z_max = np.percentile(pcl[:, -1], 90)
-        z_mask = np.logical_and(pcl[:, -1] > z_min, pcl[:, -1] < z_max)
+        z_mask = pcl[:, -1] > z_min
         pcla = np.ones((len(pcl), 4), dtype=np.float32)
         pcla[:, :3] = pcl
         plane_mask = np.abs(pcla @ plane) > threshold