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Fix: Passing sensor_t into sensor_from_rig #12

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Merged
nushakrishnan merged 3 commits into from
Oct 14, 2025
Merged

Fix: Passing sensor_t into sensor_from_rig #12

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865af39
sensor_t issue
nushakrishnan Oct 14, 2025
6e45892
naming
nushakrishnan Oct 14, 2025
c3d467b
naming of sensor ids
nushakrishnan Oct 14, 2025
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3 changes: 2 additions & 1 deletion lamaria/structs/trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -251,7 +251,8 @@ def _add_images_to_reconstruction(
else:
# left camera poses are provided
# sensor_from_rig == cam0_from_imu
left_camera = reconstruction.cameras[2]
left_camera_id = 2
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@sarlinpe sarlinpe Oct 14, 2025

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This information is duplicated with a few lines below

[
                (LEFT_CAMERA_STREAM_LABEL, 2),
                (RIGHT_CAMERA_STREAM_LABEL, 3),
]

left_camera = reconstruction.cameras[left_camera_id]
transform = rig.sensor_from_rig(sensor_id=left_camera.sensor_id)

for i, (timestamp, pose) in tqdm(
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