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smartscenes / multiscan

MultiScan: Scalable RGBD scanning for 3D environments with articulated objects
https://3dlg-hcvc.github.io/multiscan/
MIT License
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Camera intrinsics #9

Open arjung128 opened 1 year ago

arjung128 commented 1 year ago

The docs mention that the camera intrinsics are stored in the jsonl files. Printing data[0]['intrinsics'] shows that the first element is 1596.5323486328125. Is this the focal length? If so, what coordinates is this in?

Also, is the horizontal field of view known for the cameras used during the video recording? Thanks!

SamMaoYS commented 1 year ago

Hi @arjung128 ,

Yes the camera intrinsics are stored in the jsonl file, as described in the doc, the intrinsic parameter is a 9x1 vector corresponds to the column major 3x3 intrinsics matrix for the RGB frames. Thus yes, the first element is x focal length, you can find more details about the camera intrinsics we are storing in the Apple ARCamera instrinsics.

You can compute the filed of view from the camera intrinsics, here is a slack overflow blog that I found online that describes how to do such conversion.

All the best, Yongsen Mao