From c0c714c831525f690fd26f4e32f3b124df4cb8e1 Mon Sep 17 00:00:00 2001 From: Georgy Ponimatkin <38923619+ponimatkin@users.noreply.github.com> Date: Sun, 5 Mar 2023 17:34:38 +0100 Subject: [PATCH] Fix minor scannet bug. (#1555) --- nerfstudio/data/dataparsers/scannet_dataparser.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/nerfstudio/data/dataparsers/scannet_dataparser.py b/nerfstudio/data/dataparsers/scannet_dataparser.py index 3a58f302a..46ff98f8a 100644 --- a/nerfstudio/data/dataparsers/scannet_dataparser.py +++ b/nerfstudio/data/dataparsers/scannet_dataparser.py @@ -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():