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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 5 months ago

yifliu3 commented 6 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 6 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.)