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[BUG FIX] Fix point-cloud rendering from Camera depth map. #1512

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Merged
duburcqa merged 1 commit into from
Aug 6, 2025
Merged

[BUG FIX] Fix point-cloud rendering from Camera depth map. #1512

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4 changes: 2 additions & 2 deletions genesis/vis/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -541,10 +541,10 @@ def backproject_depth_to_pointcloud(K: np.ndarray, depth: np.ndarray, pose, worl
point_cloud_h = np.concatenate((pc, np.ones((len(pc), 1), dtype=np.float32)), axis=1)
if world:
point_cloud_world = point_cloud_h @ pose.T
point_cloud_world = point_cloud_world[:, :3].reshape((*depth, 3))
point_cloud_world = point_cloud_world[:, :3].reshape((*depth.shape, 3))
return point_cloud_world, mask
else:
point_cloud = point_cloud_h[:, :3].reshape((*depth, 3))
point_cloud = point_cloud_h[:, :3].reshape((*depth.shape, 3))
return point_cloud, mask

intrinsic_K = opengl_projection_matrix_to_intrinsics(
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