From 386de63278ba342b21d5bacfc2df877321cf38ba Mon Sep 17 00:00:00 2001 From: zhaowang Date: Tue, 25 Aug 2020 22:39:57 +0800 Subject: [PATCH] fix intrinsic scaling --- core/dataset/kitti_prepared.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/core/dataset/kitti_prepared.py b/core/dataset/kitti_prepared.py index f16b4979..ec51dc50 100644 --- a/core/dataset/kitti_prepared.py +++ b/core/dataset/kitti_prepared.py @@ -85,8 +85,8 @@ def read_cam_intrinsic(self, fname): return cam_intrinsics def rescale_intrinsics(self, K, img_hw_orig, img_hw_new): - K[0,:] = K[0,:] * img_hw_new[0] / img_hw_orig[0] - K[1,:] = K[1,:] * img_hw_new[1] / img_hw_orig[1] + K[0,:] = K[0,:] * img_hw_new[1] / img_hw_orig[1] + K[1,:] = K[1,:] * img_hw_new[0] / img_hw_orig[0] return K def get_intrinsics_per_scale(self, K, scale):