fix: cross-product produces left-handed coordinate frame #89
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Bug
In
average_poses()indataLoader/llff.py, the cross product operands for computing the camera coordinate frame axes are in the wrong order, producing a left-handed frame instead of the standard right-handed frame.The comments correctly describe the intended computation:
But the code had the operands swapped:
np.cross(z, y_)instead ofnp.cross(y_, z)np.cross(x, z)instead ofnp.cross(z, x)Fix
Swapped the cross product operands to match the documented algorithm and produce the correct right-handed coordinate system.