b5a00e15cbb75823327f1e58c2f586535e68f0ea,data/kitti_raw_loader.py,KittiRawLoader,collect_scenes,#KittiRawLoader#Any#,130

Before Change

                R, t = pose_from_oxts_packet(metadata[:6], scale, imu2cam)
                if origin is None:
                    origin = t
                if orientation is None:
                    orientation = R

                // Combine the translation and rotation into a homogeneous transform
                pose = np.concatenate([np.linalg.inv(orientation) @ R, t-origin], axis=1)
                scene_data["pose"].append(pose)

            sample = self.load_image(scene_data, 0)

After Change

                if origin is None:
                    origin = pose_matrix

                odo_pose = imu2cam @ np.linalg.inv(origin) @ pose_matrix @ np.linalg.inv(imu2cam)
                scene_data["pose"].append(odo_pose[:3])

            sample = self.load_image(scene_data, 0)
            if sample is None:

Instances