The wrong script of preprocess_scannt.py

[BW-Zhang05]

I think https://github.com/Willyzw/HI-SLAM2/blob/76c833c7d8ed474f0f3ba18056c1803e032a537f/scripts/preprocess_scannet.py#L25 this should not be here, because when read the inf pose this line will report an error. it should check first then convert to quat

[Heibaiii]

I think

HI-SLAM2/scripts/preprocess_scannet.py

Line 25 in 76c833c

p = to_se3_vec(p) this should not be here, because when read the inf pose this line will report an error. it should check first then convert to quat

Hi, when I run preprocess_scannet.py on "scene0054_00", I met: "numpy.linalg.LinAlgError: SVD did not converge" I found that there exist some -inf in 6620.txt - 6628.txt. How can I solve it? I just use try-catch block detect the -inf and set p=np.zeros(7), is my solution correct? Hope for your reply!