Update geometry.py

geometry.py

@@ -12,7 +12,7 @@ def get_intrinsics(H,W):
                      [0, f, cy],
                      [0, 0, 1]])
 
-def depth_to_points(depth, R=None, t=None, skew=0.5):
+def depth_to_points(depth, R=None, t=None):
 
     K = get_intrinsics(depth.shape[1], depth.shape[2])
     Kinv = np.linalg.inv(K)
@@ -36,7 +36,7 @@ def depth_to_points(depth, R=None, t=None, skew=0.5):
     # coord = torch.as_tensor(coord, dtype=torch.float32, device=device)
     coord = coord[None]  # bs, h, w, 3
 
-    D = depth[:, :, :, None, None] * skew
+    D = depth[:, :, :, None, None]
     # print(D.shape, Kinv[None, None, None, ...].shape, coord[:, :, :, :, None].shape )
     pts3D_1 = D * Kinv[None, None, None, ...] @ coord[:, :, :, :, None]
     # pts3D_1 live in your coordinate system. Convert them to Py3D's