About rigid transformation matrix?

andyzeng / tsdf-fusion-python

Python code to fuse multiple RGB-D images into a TSDF voxel volume.

http://andyzeng.github.io/

BSD 2-Clause "Simplified" License

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About rigid transformation matrix? #33

Open K-M-Ibrahim-Khalilullah opened 3 years ago

K-M-Ibrahim-Khalilullah commented 3 years ago

Thanks for your good repo. Would provide the notation of your 4x4 rigid transformation matrix? It will easier to understand, what they are? or any other link?

HaFred commented 3 years ago

It seems like rigid_transformation() does the following:

Convert a 3D view frustum in the camera coordinate from Cartesian coordinates into Homogenous coordinates
Perform transformation
Convert the homogenous coordinates back into Cartesian coordinates

Henceforth, get_view_frustum() extract the view frustum for each frame by utilizing its depth and intrinsic and pose.