From 2ad2d5151b0b3ebe9e3ececb2420396aa1f1543e Mon Sep 17 00:00:00 2001 From: ch-sa Date: Mon, 22 Nov 2021 21:43:46 +0100 Subject: [PATCH] Limit initial zoom to far_plane - take minimum of diagonal and 0.9 * far_plane Closes: #39 Relates: #36 --- labelCloud/control/pcd_manager.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/labelCloud/control/pcd_manager.py b/labelCloud/control/pcd_manager.py index dabf8fc..57b935e 100644 --- a/labelCloud/control/pcd_manager.py +++ b/labelCloud/control/pcd_manager.py @@ -198,7 +198,10 @@ def load_pointcloud(self, path_to_pointcloud: str) -> PointCloud: tmp_pcd.colorless = False max_dims = np.subtract(tmp_pcd.pcd_maxs, tmp_pcd.pcd_mins) - diagonal = np.linalg.norm(max_dims) + diagonal = min( + np.linalg.norm(max_dims), + config.getfloat("USER_INTERFACE", "far_plane") * 0.9, + ) tmp_pcd.init_translation = -self.current_o3d_pcd.get_center() - [0, 0, diagonal]