Question about .cam file

fdp0525 / G2LTex

Code for CVPR 2018 paper --- Texture Mapping for 3D Reconstruction with RGB-D Sensor

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Question about .cam file #14

Open eckertzhang opened 3 years ago

eckertzhang commented 3 years ago

Thanks for your work of G2LTex. I am following this work. There is an issue about the data. Would please tell me what the 12 figures in .cam file means? The first nine figures is the rotation matrix? Or the fourth, eighth, and twelfth figure combine as the translation vector?

I am looking forward for your reply. Thanks for your time.

fdp0525 commented 3 years ago

please refer to the illustrations:

Input Format Color frames (color_XX.jpg): RGB, 24-bit, JPG. Depth frames (depth_XX.png): depth (mm), 16-bit, PNG (invalid depth is set to 0). Camera poses (color_XX.cam): world-to-camera [tx, ty, tz, R00, R01, R02, R10, R11, R12, R20, R21, R22].

The world-to-camera matrix can be constructed

[R00 R01 R02 tx

R10 R11 R12 ty

R20 R21 R22 tz

0 0 0 1]