| --- upstream/precheck_4dvis.py | |
| +++ tools/precheck_4dvis_nominal_intrinsics.py | |
| 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) | |