wangbo/ComfyUI
1
0
Fork 0
mirror of https://github.com/comfyanonymous/ComfyUI.git synced 2026-05-28 01:47:32 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

Fix extrinsic quaternions by normalizing them to unit quaternion.

Browse Source
This commit is contained in:
Talmaj Marinc 2026-05-26 14:25:18 +02:00
parent 2ed1f36471
commit 2dd9d96d4a
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
comfy/ldm/depth_anything_3/transform.py
View File

@ -165,6 +165,9 @@ def pose_encoding_to_extri_intri(
quat = pose_encoding[..., 3:7] quat = pose_encoding[..., 3:7]
fov_h = pose_encoding[..., 7] fov_h = pose_encoding[..., 7]
fov_w = pose_encoding[..., 8] fov_w = pose_encoding[..., 8]
# Normalize to unit quaternion. CameraDec outputs raw values; a near-zero
# quaternion causes two_s = 2/norm² → inf in quat_to_mat → NaN extrinsics.
quat = quat / quat.norm(dim=-1, keepdim=True).clamp(min=1e-6)
R = quat_to_mat(quat) R = quat_to_mat(quat)
extrinsics = torch.cat([R, T[..., None]], dim=-1) extrinsics = torch.cat([R, T[..., None]], dim=-1)
H, W = image_size_hw H, W = image_size_hw