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fix intrinsic matrix bug

This commit is contained in:
cremebrule 2024-10-01 00:19:48 -07:00
parent b2b2fd6521
commit ca54ff9180
1 changed files with 3 additions and 3 deletions
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6
omnigibson/sensors/vision_sensor.py
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@ -772,12 +772,12 @@ class VisionSensor(BaseSensor):
horizontal_fov = 2 * math.atan(horizontal_aperture / (2 * focal_length))
vertical_fov = horizontal_fov * height / width
fx = (width / 2.0) / th.tan(horizontal_fov / 2.0)
fy = (height / 2.0) / th.tan(vertical_fov / 2.0)
fx = (width / 2.0) / math.tan(horizontal_fov / 2.0)
fy = (height / 2.0) / math.tan(vertical_fov / 2.0)
cx = width / 2
cy = height / 2
intrinsic_matrix = th.tensor([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]])
intrinsic_matrix = th.tensor([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]], dtype=th.float)
return intrinsic_matrix
@property