Camera Intrinsic parameter

[TropicalPenguinn]

Can you tell me the intrinsic parameter of camera that you have used to make the dataset?

[davnov134]

Hi, each frame is annotated with a specific set of intrinsics. You can find this information in the frame_annotations.jgz files bundled in the dataset.

[shapovalov]

See also the relevant part of the example if you use JsonIndexDataset for high-level access to the metadata: https://github.com/facebookresearch/co3d/blob/main/examples/show_co3d_dataset.py#L147

data_to_show_collated.camera is an instance of PerspectiveCameras, where you can access focal_length and principal_point attributes.

Also to note that the intrinsics were estimated during SfM.

I will close the thread but feel free to reopen for further clarifications.