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Fix minor scannet bug. (#1555)

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Georgy Ponimatkin 2023-03-05 17:34:38 +01:00 committed by GitHub
parent 7b8999ac3d
commit c0c714c831
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1 changed files with 3 additions and 3 deletions
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nerfstudio/data/dataparsers/scannet_dataparser.py
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@ -82,9 +82,9 @@ class ScanNet(DataParser):
K = np.loadtxt(self.config.data / "intrinsic" / "intrinsic_color.txt")
for img, depth, pose in zip(img_dir_sorted, depth_dir_sorted, pose_dir_sorted):
pose = np.loadtxt(pose)
frame_pose[0:3, 1:3] *= -1
frame_pose = frame_pose[np.array([1, 0, 2, 3]), :]
frame_pose[2, :] *= -1
pose[0:3, 1:3] *= -1
pose = pose[np.array([1, 0, 2, 3]), :]
pose[2, :] *= -1
# We cannot accept files directly, as some of the poses are invalid
if np.isinf(pose).any():