Transform normal to cam space

[Binyr]

Hi, below shows two example from small_city/street/train/small_city_road_down: 0930 and 1228. Different columns are rgb, normal in cam space; mask of pixels that norm of normal is not equal to 1.

1. As can be seen in the image, the normal of ground is significantly different but from the rgb image, the two cameras seems to have a similar angle witg repsect to the ground. Is there anything wrong with the camera rotation?
2. Why there exists so many normal that norm is not equal to 1?

Thank you, Yanrui

[yixuanli98]

Our normals are in the world coordinate. We provided script to read normal in load_data.py, where we normalize the normal. An explanation is provided Depth and Normal Map Note. For your case, these two cameras have a similar angle with respect to the ground, which means these two cameras have same pitch. Maybe you can check if the cameras of these two images have different yaw, which will also affect normal in camera space.