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andrewsonga / Total-Recon

[ICCV 2023] Total-Recon: Deformable Scene Reconstruction for Embodied View Synthesis
https://andrewsonga.github.io/totalrecon
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Issues Using "normrefcam2secondcam.npy" Transform #8

Closed coltonstearns closed 3 months ago

coltonstearns commented 3 months ago

Hello,

I'm trying to use the "normrefcam2secondcam.npy" transformation to transform every "left camera" pose into the reference frame of the "right camera" poses. If normrefcam2secondcam is the affine transformation from left-camera world coordinates to right-camera world coordinates, I tried (what I believe should have worked): NEW_POSE = affine(LEFT_POSE) @ inverse(normrefcam2secondcam). However, the resulting poses seem to be misaligned off slightly. Basically, how did you use the normrefcam2secondcam transformation? Any clarification on changes of camera coordinate systems would be greatly appreciated. Thanks in advance!

coltonstearns commented 3 months ago

Ah wait, I may have figured it out - is it that normrefcam2secondcam maps from the left camera coordinates to right camera coordinates (i.e. not world coords)?

andrewsonga commented 3 months ago

Yes, normrefcam2secondcam maps from the left camera (the reference view) to the right camera coordinates (the "second" camera).

andrewsonga commented 3 months ago

@coltonstearns Were you able to resolve this issue when using normrefcam2secondcam.npy? Please let me know if you need additional assistance :)

coltonstearns commented 3 months ago

Yes resolved it, and closing the issue now. Sorry for my delay!