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naver / dust3r

DUSt3R: Geometric 3D Vision Made Easy
https://dust3r.europe.naverlabs.com/
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If i have known camera poses and intrinsics, will the reconstruction be scaled properly? #103

Open Muhammad0312 opened 1 month ago

Muhammad0312 commented 1 month ago

Congrats for the awesome work If i know the camera pose and intrinsics and i use preset_pose, preset_focal and preset_principal_point. Will the point cloud be accurately scaled? Thank you

CuriousCat-7 commented 1 month ago

From my data, I find that the scale it smaller than the LiDAR ground truth. Any others get the similar result?

simonpokorny commented 1 month ago

It should be scaled proportionally to your poses.

Munna-Manoj commented 3 weeks ago

I tried to inject the pose, and the depth scale is now larger than without the pose injection. Regarding the intrinsic, it is not a good idea. Because, the code resizes the image into (512), but we have the original Image intrinsic. Once we distort the original image dimensions, the camera intrinsic needs to be adjusted accordingly. When I tried to inject focals and principal points, my reconstructions were mismatched and weirdly elongated. I knew how to adjust intrinsic when the image is scaled down with the same height and width scale, but here the scale is different and the focal should be one parameter only. I am searching for handling this issue.