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hkust-vgd / scenenn

Supplemental code and scripts for the paper SceneNN: A Scene Meshes Dataset with aNNotations
http://www.scenenn.net
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trajectory association #3

Closed WANG-KX closed 5 years ago

WANG-KX commented 6 years ago

Dear, I have a question about the trajectory meaning in the dataset. Using the code 'playback', I can extract corresponding frames of both RGB and depth images. Now how to associate them with the pose? What's the meaning of three numbers in the first row of each trajectory block?

Below is a example of a trajectory block 6 6 7 -0.999735 -0.0221085 -0.00642794 -1.60032 0.0228115 -0.913277 -0.406701 0.995107 0.00312105 -0.406739 0.913539 -0.243516 0.000000 0.000000 0.000000 1.000000 What's the meaning of 6 6 7?

Thanks!

songuke commented 6 years ago

@WANG-KX Sorry for this late response.

The meaning of "6 6 7" is simply the frame ID in the video. Number 7 here is just frame ID + 1. We simply follow the format of trajectory.log in the ElasticReconstruction code (https://github.com/qianyizh/ElasticReconstruction). In their code, they use these numbers to specify pairs of geometric fragments for matching. Here we just use the frame ID.

JingyuChan commented 5 years ago

@songuke Sorry to bother you, but we are wondering about the meaning of the frame ID mentioned above. Since the generated color images and depth images have different frame numbers and are synchronized with the provided code, can you explain to us if the frame ID is referred to the depth image ID, the color image ID or the ID of synchronized image pairs?

songuke commented 5 years ago

@JingyuChan Sorry for the late reply. The frame ID here is simply used for counting in the synchronized video. It is not the raw frame ID in the unsynchronized video.