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mihaibujanca / dynamicfusion

Implementation of Newcombe et al. CVPR 2015 DynamicFusion paper
BSD 3-Clause "New" or "Revised" License
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A question about WarpField::init #22

Closed fweinan123 closed 6 years ago

fweinan123 commented 6 years ago

Hello Mihai, I have read your project but I am fused about the WarpField::init in the warp_field.cpp line 79. I want to figure out why you initialize node's transformation using the PointCloud's point and its normal. In my view, WarpField::init should initialize the estimation of canonical_vertices to live_vertices, so the rotation matrix should be identity matrix and the translation matrix should be zeros. Did I get it wrong?

mihaibujanca commented 6 years ago

I think you're right, not entirely sure why I did that - thanks for pointing it out! I'll update it accordingly.