Fix a bug: structured3d extrinsic error!!!

OpenGVLab · Mar 28, 2024 · 1093eb6 · 1093eb6
1 parent 0c5af29
commit 1093eb6
Show file tree

Hide file tree

Showing 2 changed files with 15 additions and 11 deletions.
diff --git a/ponder/datasets/preprocessing/structured3d/preprocess_structured3d.py b/ponder/datasets/preprocessing/structured3d/preprocess_structured3d.py
@@ -255,10 +255,22 @@ def parse_scene(
  if parse_rgbd or plugin_rgbd:
  depth = depth[:, :, 0]
  extrinsic = np.eye(4)
- extrinsic[:3, :3] = np.linalg.inv(
- np.array([[0, 0, 1], [0, -1, 0], [1, 0, 0]]) @ cam_r
- )
+ extrinsic[:3, :3] = cam_r
  extrinsic[:3, 3] = cam_t
+ extrinsic = np.array(
+ [[1, 0, 0, 0], [0, 0, 1, 0], [0, 1, 0, 0], [0, 0, 0, 1]]
+ ) @ np.linalg.inv(
+ np.array(
+ [
+ [0, 0, 1, 0],
+ [0, -1, 0, 0],
+ [1, 0, 0, 0],
+ [0, 0, 0, 1],
+ ]
+ )
+ @ np.linalg.inv(extrinsic)
+ )
+
  semantic_map = (
  np.ones_like(depth, dtype=np.int64) * ignore_index
  )

diff --git a/ponder/datasets/structure3d.py b/ponder/datasets/structure3d.py
@@ -115,14 +115,6 @@ def get_data(self, idx):
  if (rgbd_dicts[i]["depth_mask"]).mean() < 0.25:
  return self.get_data(idx)
 
- for d in rgbd_dicts:
- d["extrinsic"] = np.array(
- [[1, 0, 0, 0], [0, 0, 1, 0], [0, 1, 0, 0], [0, 0, 0, 1]]
- ) @ np.linalg.inv(
- np.array([[0, 0, 1, 0], [0, -1, 0, 0], [1, 0, 0, 0], [0, 0, 0, 1]])
- @ np.linalg.inv(d["extrinsic"])
- )
-
  data_dict = dict(
  coord=coord,
  normal=normal,