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apple / ARKitScenes

This repo accompanies the research paper, ARKitScenes - A Diverse Real-World Dataset for 3D Indoor Scene Understanding Using Mobile RGB-D Data and contains the data, scripts to visualize and process assets, and training code described in our paper.
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About the camera extrinsics of provided highres depth map #30

Closed yifanjiang19 closed 1 year ago

yifanjiang19 commented 2 years ago

Hi,

Thanks for providing the highres depth map! That is really useful. However, I found some problems regarding to the timestamp.

For each highres depth map, I can't find the corresponding camera extrinsics in .traj file. For example, in Validation/42446103, highres depth map folder contains 42446103_78067.167.png, but 42446103_78067.167 didn't appear in .traj file. I can only find extrinsics for 78067.183 and 78067.083.

Best,

OasisYang commented 2 years ago

Same problem

ManooshSamiei commented 1 year ago

Same issue here

PeterZheFu commented 1 year ago

Thanks for your interest in our dataset. However, as described in the paper associated with this dataset, the highres depth maps are used for the upsampling task. For this upsampling task we release paired lowres and highres depth maps, which do not include camera extrinsics for the upsampling task. Therefore we do not have camera traj files with exact timestamps. That being said, for 3dod task we release the lowres depth frames which match the timestamps of the .traj file. Hope this information is helpful. Please feel free to let me know if you have any questions.

PeterZheFu commented 1 year ago

Closing the issue for now. Feel free to re-open it if you have any questions.