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KAIST-VCLAB / EgocentricReconstruction

EgocentricReconstruction
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Questions about the dataset 360RGBD #4

Open Jaheim-s opened 1 year ago

Jaheim-s commented 1 year ago

Hi, your work Egocentric Scene Reconstruction from an Omnidirectional Video is very attractive to me, thank you for open sourcing the project. The dataset 360RGBD published by the project I downloaded successfully, and I have some questions about this. Cloud you please help commet on:

  1. Is the file rt.csv the camera pose ground truth of the video frame ?
  2. How the physical coordinate system corresponding to the camera pose matrix is defined, what about the orientation of the XYZ coordinate axis?
Hyeonjoong-Jang commented 1 year ago

Hi, sorry for the late comments.

  1. Yes, camera poses in the file rt.csv is ground truth. They are world_to_camera matrices, and they map points in the world to the camera coordinates.
  2. The Z axis points forward, the X axis points right, and the Y axis points bottom with respect to the camera.
HugoNTL commented 1 year ago

Hi. Thanks for providing the wonderful dataset. I would like to calculate the world cooridnate by the 4x4 world_to_camera matrices in rt.csv. Could you please advise the camera intrinsics matrices for my calculation, i.e., focal length and Principal point (cx, cy)? Many Thanks!