improve 6120 (OpenCV pose estimation bug fix) (#6306)

isl-org · Aug 14, 2023 · c46e64a · c46e64a
1 parent a9370f2
commit c46e64a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/examples/python/reconstruction_system/opencv_pose_estimation.py b/examples/python/reconstruction_system/opencv_pose_estimation.py
@@ -178,7 +178,7 @@ def estimate_3D_transform_RANSAC(pts_xyz_s, pts_xyz_t):
  if (n_inlier > max_inlier) and (np.linalg.det(R_approx) != 0.0) and \
  (R_approx[0,0] > 0 and R_approx[1,1] > 0 and R_approx[2,2] > 0):
  Transform_good[:3, :3] = R_approx
- Transform_good[:3, 3] = [t_approx[0], t_approx[1], t_approx[2]]
+ Transform_good[:3, 3] = t_approx.squeeze(1)
  max_inlier = n_inlier
  inlier_vec = [id_iter for diff_iter, id_iter \
  in zip(diff, range(n_points)) \