Removed hard dependency on pybind11's submodule, removed time import

CMakeLists.txt

@@ -20,8 +20,9 @@ FetchContent_MakeAvailable(Eigen)
 
 find_package(OpenMP)
 
-# find_package(pybind11 CONFIG REQUIRED)
-add_subdirectory(extern/pybind11)
+find_package(pybind11 CONFIG REQUIRED)
+
+# add_subdirectory(extern/pybind11)
 add_library(core INTERFACE)
 target_include_directories(core INTERFACE src)
 target_link_libraries(core INTERFACE Eigen3::Eigen OpenMP::OpenMP_CXX)

pyprojections/camera.py

@@ -31,7 +31,6 @@
     project_pinhole_inplace, project_spherical_inplace,
     inverse_project_pinhole_inplace, inverse_project_spherical_inplace)
 
-import time
 import numpy as np
 from enum import Enum
 from typing import Tuple
@@ -175,7 +174,6 @@ def zbuf_test(n: int):
         assert np.allclose(lut, lut1) and np.allclose(valid_mask, valid_mask1)
 
         assert np.count_nonzero(valid_mask[n:]) == 0
-    ...
 
 
 if __name__ == '__main__':
@@ -228,7 +226,7 @@ def zbuf_test(n: int):
     new_K, _, vfov, hfov = calculate_spherical_intrinsics(
         point_cloud, img_rows, img_cols)
 
-    # assert np.allclose(new_K, K, atol=1e-2)
+    assert np.allclose(new_K, K, atol=1e-2)
 
     if (not np.allclose(dimage, new_range_img, atol=1e-7)):
         print("range images are not approximately equals")