Comments (4)
sarlinpe
commented on May 20, 2024
- For the mapping folder, the file
trajectories.txtcontains the refined (metric) poses obtained using our GT pipeline (in camera-to-world format). - For the queries, the file
trajectories.txtcontains the raw on-device odometry poses (which are not aligned to the global frame nor refined). The GT poses for queries were kept private. However, we released the GT poses for some validation sequences in*_val/proc/alignment_trajectories.txt.
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alexs7
commented on May 20, 2024
Ok thanks! Do the poses follow an inverse convention from COLMAP's ?
In COLMAP docs they say: "The reconstructed pose of an image is specified as the projection from world to the camera coordinate system".
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sarlinpe
commented on May 20, 2024
Yes, the poses here follow the inverse convention - they transform points from camera to world frame.
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alexs7
commented on May 20, 2024
Ok thanks!!
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Related Issues (20)
- Ceres version >= 2.1 required when installing python requirements on Ubuntu 20.04 HOT 2
- ScanCapture pose format HOT 1
- About 3D Models HOT 1
- When is the benchmark evaluation system expected to come out? HOT 2
- Access to gyroscope.txt and accelerometer.txt of public released dataset HOT 2
- Question about "Save optimized anchor poses instead of instantaneous camera poses" HOT 2
- is there any pipeline or demo to show how to use the data from ScanCapture? HOT 2
- Check / Update GT pipeline with navvis data exported as rigs
- Question about the coordinates of LaMaR dataset HOT 2
- Rewrite capture format code to avoid dependency on scipy
- Raw depth data HOT 1
- ScanCapture app export scene mesh HOT 1
- How can I run pipeline_sequence.py?
- Effect of pnp_error_multiplier
- Question about the trajectories.txt HOT 5
- Question about GNC: where was it implemented? HOT 6
- Rendering navvis mesh to dense depth maps in other (iOS/hl) sessions HOT 2
- Method call on property HOT 1
- Question about evaluation results for test queries HOT 7
- Create rig from sensor_frame.xml HOT 1
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