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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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Error in trajectory #4

Open WANG-KX opened 6 years ago

WANG-KX commented 6 years ago

There are some transformations in trajectory.log that are not SE3 matrix. For example, in sequence 092, from line 6296 to line 6300: 1259 1259 1260 0 0 0 0.032024 0 0 0 3.15572 0 0 0 -1.4815 0.000000 0.000000 0.000000 1.000000 the rotation matrix is all zero.

songuke commented 6 years ago

Thanks for reporting this issue. This could be due to a lost track occurred during reconstruction.

Possible solutions: (1) Ignore them in your application. (2) Try using other reconstruction technique (e.g., those from ScanNet, or a fine-to-coarse tracking: https://github.com/mhalber/Fine-To-Coarse-Registration).