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maturk committed 2023-07-20 18:23:46 +03:00
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commit 4ddbee9b08
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nerfstudio/cameras/camera_optimizers.py
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@@ -113,7 +113,7 @@ class CameraOptimizer(nn.Module):
def apply_to_raybundle(self, raybundle: RayBundle) -> None:
"""Apply the pose correction to the raybundle"""
if self.config.mode != "off":
correction_matrices = self(raybundle.camera_indices.squeeze())
correction_matrices = self(raybundle.camera_indices.squeeze()) # type: ignore
raybundle.origins = raybundle.origins + correction_matrices[:, :3, 3]
raybundle.directions = torch.bmm(correction_matrices[:, :3, :3], raybundle.directions[..., None]).squeeze()