From a9c1c596d509b0d909e019eca26569deb2822764 Mon Sep 17 00:00:00 2001
From: princek880 <64679686+princek880@users.noreply.github.com>
Date: Fri, 12 Apr 2024 21:38:51 +0530
Subject: [PATCH] Update util.py to fix s_hat assignment

This PR resolves an indexing error in getRMatrix by fixing improper indexing of ax in the s_hat array. It ensures smooth execution of the Depth2HHA pipeline.
---
 utils/util.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/utils/util.py b/utils/util.py
index 04d2908..213597f 100644
--- a/utils/util.py
+++ b/utils/util.py
@@ -151,9 +151,9 @@ def getRMatrix(yi, yf):
     if (abs(phi) > 0.1):
         phi = phi * (np.pi / 180)
 
-        s_hat = np.array([[0, -ax[2], ax[1]],
-                          [ax[2], 0, -ax[0]],
-                          [-ax[1], ax[0], 0]])
+        s_hat = np.array([[0, -ax[2][0], ax[1][0]],
+                          [ax[2][0], 0, -ax[0][0]],
+                          [-ax[1][0], ax[0][0], 0]])
         R = np.eye(3) + np.sin(phi) * s_hat + (1 - np.cos(phi)) * np.dot(s_hat, s_hat)      # dot???
     else:
         R = np.eye(3)
@@ -173,4 +173,4 @@ def rotatePC(pc, R):
         res = np.dot(R, res)
         res = np.reshape(res, pc.shape, 'F')
         res = np.swapaxes(np.swapaxes(res, 0, 1), 1, 2)
-        return res
\ No newline at end of file
+        return res