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med-air / EndoNeRF

Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery
https://med-air.github.io/EndoNeRF/
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How do you get the bds in poses_bounds.npy? #27

Closed yifliu3 closed 10 months ago

yifliu3 commented 11 months ago

Hi! Thanks for your great work.

When reading the code, I find you use the bds in poses_bounds.npy to decide the near and far for each image, and may I know how you obtain these values? My guess is that you directly use the results of COLMAP, but you may do some other processes.

yuehaowang commented 11 months ago

It's okay to use the results of COLMAP. In our data, the bds are computed based on the estimated depths:

near = np.percentile(depth, 3.)
far = np.percentile(depth, 99.)