From f2fdd10d9bca5d66286e72fcd87c41122050156f Mon Sep 17 00:00:00 2001
From: Weihang Li <992343449@qq.com>
Date: Sat, 10 Jun 2023 18:07:57 +0200
Subject: [PATCH] fix for scannet dataset camera pose loading (#2056)

* fix scannet dataparser pose issue

* camera pose corrected
---
 nerfstudio/data/dataparsers/scannet_dataparser.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/nerfstudio/data/dataparsers/scannet_dataparser.py b/nerfstudio/data/dataparsers/scannet_dataparser.py
index 578815c3c..90a53f8a7 100644
--- a/nerfstudio/data/dataparsers/scannet_dataparser.py
+++ b/nerfstudio/data/dataparsers/scannet_dataparser.py
@@ -89,10 +89,10 @@ 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)
-            pose[0:3, 1:3] *= -1
-            pose = pose[np.array([1, 0, 2, 3]), :]
-            pose[2, :] *= -1
-
+            pose = np.array(pose).reshape(4, 4)
+            pose[:3, 1] *= -1
+            pose[:3, 2] *= -1
+            pose = torch.from_numpy(pose).float()
             # We cannot accept files directly, as some of the poses are invalid
             if np.isinf(pose).any():
                 continue