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Improve 6120 #6306

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Aug 14, 2023
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Improve 6120 #6306

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2 changes: 1 addition & 1 deletion examples/python/reconstruction_system/opencv_pose_estimation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)) \
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