Refactor and clean up codebase by removing unused functions and reorganizing imports

- Removed unused model keys and functions from properties.py.
- Deleted projection.py as its functions were no longer needed.
- Cleaned up model_catalog.py by removing unused model directory function.
- Updated imports in various test files to reflect new module structure.
- Removed deprecated test cases related to image editing tools.
- Added new tests for ONNX runtime provider selection logic.
This commit is contained in:
2026-09-09 10:31:56 +08:00
parent 4c902ed7db
commit f5aff50b13
47 changed files with 460 additions and 413 deletions

View File

@@ -1,7 +1 @@
from .projection import unproject_camera_depth, unproject_depth_frame
__all__ = (
"unproject_camera_depth",
"unproject_depth_frame",
)
"""Depth and normal artifact processing."""

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@@ -1,31 +0,0 @@
def unproject_depth_frame(depth, intrinsics, extrinsics):
import numpy as np
height, width = depth.shape
x, y = np.meshgrid(
np.arange(width, dtype=np.float32),
np.arange(height, dtype=np.float32),
)
pixels = np.stack((x, y, np.ones_like(x)), axis=-1).reshape(-1, 3)
rays = (np.linalg.inv(intrinsics) @ pixels.T).T
camera_points = rays * depth.reshape(-1, 1)
camera_points = np.column_stack(
(camera_points, np.ones(camera_points.shape[0], dtype=np.float32))
)
world_to_camera = np.eye(4, dtype=np.float32)
world_to_camera[: extrinsics.shape[0], :4] = extrinsics
world_points = (np.linalg.inv(world_to_camera) @ camera_points.T).T
return world_points[:, :3].reshape(height, width, 3)
def unproject_camera_depth(depth, intrinsics):
import numpy as np
height, width = depth.shape
x, y = np.meshgrid(
np.arange(width, dtype=np.float32),
np.arange(height, dtype=np.float32),
)
pixels = np.stack((x, y, np.ones_like(x)), axis=-1).reshape(-1, 3)
rays = (np.linalg.inv(intrinsics) @ pixels.T).T
return (rays * depth.reshape(-1, 1)).reshape(height, width, 3)