File size: 556 Bytes
0ca7e35 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | --- upstream/precheck_4dvis.py
+++ tools/precheck_4dvis_nominal_intrinsics.py
@@ -582,11 +582,7 @@
export_image_tactile_videos(episode, args.data_path, args.episode_idx)
# a random intrinsic matrix
- intrinsic = np.array([
- [640, 0, 320],
- [0, 480, 240],
- [0, 0, 1]
- ])
+ intrinsic = np.asarray(episode["camera_ego_intrinsics"][0], dtype=np.float64)
visualization(videos, intrinsic, pointclouds_vis, camera_poses, left_wrist_pose, right_wrist_pose, left_finger_pos,
right_finger_pos)
|