search

qianyizh / ElasticReconstruction

3D reconstruction system to creating detailed scene geometry from range video.
http://qianyi.info/scene.html
Other
632 stars 205 forks source link

How to creat gt.info and gt.log files #12

Open lcxiha opened 1 year ago

lcxiha commented 1 year ago

Hi,I want to know how to creat gt.info and gt.log files in ../ElasticReconstruction master/Matlab_Toolbox/Example/Data/RegistrationEvaluation/livingroom1 and what's the mean of gt.info . Is the gt.log file an evaluation of Transformation Matrix for two Frame Point Clouds？Can you help me ?Thanks a lot!

qianyizh commented 1 year ago

See this page: http://redwood-data.org/indoor/fileformat.html

lcxiha commented 12 months ago

Thank you! I still have some questions to consult:

1.If I have multiple frame point cloud data and their corresponding transformation matrices, can I obtain. log files and. info files?

2.Can I understand the 4 * 4 matrix in the. log file as the transformation matrix between two point clouds?

  1. Can the. info file be understood as either the Covariance matrix of one frame of point cloud or the Covariance matrix of two frames of point cloud?
qianyizh commented 12 months ago

The transformation matrix (.log) transforms the point cloud to the world coordinate. For information matrix (.info), see this: https://github.com/isl-org/Open3D/blob/6ddbcd5c9b8bf0b496e4151c7d7766af09e3dba7/cpp/open3d/pipelines/registration/GlobalOptimization.cpp#L177

lcxiha commented 11 months ago

Thanks a lot! Are the first and second data of the metadata in the .log file represented by the sequence number? If I want to generate my own .log file based on your format, can I set the three numbers in the metadata to the sequence number of the two point clouds and the number of frames of the point cloud in this scene, and set the homogeneous transformation matrix to the transformation matrix of the two point clouds?

qianyizh commented 11 months ago

Unfortunately it was a very long time ago, and I don't remember what exactly each number represents. Maybe read the code and find out?