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[CoRL 21'] TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo
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Convention of the Coordiante System / Representation of Poses #55

Closed geoeo closed 10 months ago

geoeo commented 11 months ago

I couldn't find anything about this.

1) What do the poses in the pose file represent? Is it the pose of the camera in world coordinates w.r.t some other point(origin) also in world coordinates?

E.g. Origin is at (0,0,0) and the first Camera is at (2,0,0) then cam_world is simply the translation (2,0,0)?

2) What Coordinate System should the poses be in? Is it Camera Coordinates i.e. +X - Right, +Y Down, +Z Into the image / Does it matter?

ShuhongLL commented 3 months ago

Hello, did you figure out the coordinate system? I am facing the same problem. Thanks in advance

geoeo commented 3 months ago

@ShuhongLL Poses should be in Camera Coordinates i.e +X - Right, +Y Down, +Z Into the image. Input pose file doesnt matter iirc the framework will tranform the poses such that the middle camera is the origin