Closed VladimirYugay closed 1 year ago
Hi @VladimirYugay , as far as I know the iMAP data from replica are also generated via randomly sampling $N$ camera positions and their corresponding $N$ look-at points, but with less unusual drastic motions compared to those in Semantic-NeRF to the sake of supporting camera tracking in SLAM . The complete trajectory with $M$ frames are obtrained by interpolation between these N keypoint poses.
I did not have a concrete idea whether the traj is legit or not. But if you want to run SLAM on it, I assume it would be good to produce a relative smooth trajectory like iMAP with a more constraint random generation process.
I want to render a replica dataset with the exact same format as used in iMap.
So far I was able to generate a smooth trajectory, navigate the agent along it, and store the respective depth maps and images which look nice. However, I'm failing when trying to run a method on it, while it works perfectly fine on the replica data from iMap.
I'm a little bit confused about how exactly to test/verify that my poses are legit. The snippet I used to get them assuming that there's a legit trajectory: