search

XiaoBaiiiiii / colmap-pcd

Image-to-point cloud Registration Tool
Other
408 stars 52 forks source link

Image poses #13

Open Rogers34 opened 5 months ago

Rogers34 commented 5 months ago

Hello, I would like to ask for your advice， What coordinate system is the output images pose in, and what is its relationship with the point cloud. I am trying to project the point cloud onto the image, but the result is not quite accurate. I calculated the optical center, but the result is a bit strange. colmap-pcd img

liang0724s commented 5 months ago

@Rogers34 Hello, I want to ask you a question for the pose of the initial image. How do you get this pose? The paper mentions that Cloud Compare can be used to obtain pose(Especially ,rotation matrix). I'm not very good at using it.

liang0724s commented 5 months ago

Hello, I would like to ask for your advice， What coordinate system is the output images pose in, and what is its relationship with the point cloud. I am trying to project the point cloud onto the image, but the result is not quite accurate. I calculated the optical center, but the result is a bit strange. colmap-pcd img

As mentioned in README, the camera poses follow the same coordinate convention with the point cloud, x-front, y-left, and z-up. 屏幕截图 2024-06-06 183558

sharmrit commented 4 weeks ago

How to set the first image pose? I do it manually but somehow the approach do not work and it stops after few minutes without registering all the image points to point cloud. Top view during reconstruction: topview_during_construction Side view during reconstruction: sideview_during_construction

I believe the camera pose should never be estimated below the ground. But I am seeing camera poses being below the ground during reconstruction which is weird.