Question with “dust3r/dust3r/cloud_opt/base_opt.py” ？

[star-AI]

Hello! There's a problem here that's bothering me:
in dust3r/dust3r/cloud_opt/base_opt.py
pw_poses = self.get_pw_poses() def get_pw_poses(self): # cam to world RT = self._get_poses(self.pw_poses) scaled_RT = RT.clone() scaled_RT[:, :3] *= self.get_pw_scale().view(-1, 1, 1) # scale the rotation AND translation return scaled_RT
Why are the r and t multiplied by scale? In general, isn't the scaling factor only multiplied by t？