data/realestate10k.py [92:124]:
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            image = Image.open(
                self.base_file
                + "/frames/%s/%s/" % (self.dataset, self.imageset[index])
                + str(int(frames[t_index, 0]))
                + ".png"
            )
            rgbs += [self.input_transform(image)]

            intrinsics = frames[t_index, 1:7]
            extrinsics = frames[t_index, 7:]

            origK = np.array(
                [
                    [intrinsics[0], 0, intrinsics[2]],
                    [0, intrinsics[1], intrinsics[3]],
                    [0, 0, 1],
                ],
                dtype=np.float32,
            )
            K = np.matmul(self.offset, origK)

            origP = extrinsics.reshape(3, 4)
            P = np.matmul(K, origP)  # Merge these together to match habitat
            P = np.vstack((P, np.zeros((1, 4), dtype=np.float32))).astype(
                np.float32
            )
            P[3, 3] = 1

            Pinv = np.linalg.inv(P)

            cameras += [
                {
                    "P": P,
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data/realestate10k.py [182:214]:
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            image = Image.open(
                self.base_file
                + "/frames/%s/%s/" % (self.dataset, self.imageset[index])
                + str(int(frames[t_index, 0]))
                + ".png"
            )
            rgbs += [self.input_transform(image)]

            intrinsics = frames[t_index, 1:7]
            extrinsics = frames[t_index, 7:]

            origK = np.array(
                [
                    [intrinsics[0], 0, intrinsics[2]],
                    [0, intrinsics[1], intrinsics[3]],
                    [0, 0, 1],
                ],
                dtype=np.float32,
            )
            K = np.matmul(self.offset, origK)

            origP = extrinsics.reshape(3, 4)
            P = np.matmul(K, origP)  # Merge these together to match habitat
            P = np.vstack((P, np.zeros((1, 4), dtype=np.float32))).astype(
                np.float32
            )
            P[3, 3] = 1

            Pinv = np.linalg.inv(P)

            cameras += [
                {
                    "P": P,
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