fix centerline nan issue (argoverse#6)

yzhou377 · Jun 20, 2019 · 81c5c44 · 81c5c44
1 parent a2f57ea
commit 81c5c44
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/demo_usage/cuboids_to_bboxes.py b/demo_usage/cuboids_to_bboxes.py
@@ -77,6 +77,9 @@ def plot_lane_centerlines_in_img(
 
         ground_heights = avm.get_ground_height_at_xy(centerline_city_fr, city_name)
 
+        valid_idx = np.isnan(ground_heights)
+        centerline_city_fr = centerline_city_fr[~valid_idx]
+
         centerline_egovehicle_fr = city_to_egovehicle_se3.inverse().transform_point_cloud(centerline_city_fr)
         centerline_uv_cam = cam_SE3_egovehicle.transform_point_cloud(centerline_egovehicle_fr)