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Coordinate System Problems #16

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maicao2018 opened this issue Jun 26, 2022 · 1 comment

maicao2018 commented Jun 26, 2022 •

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Hello, authors:
Thank you for your contributions. Here are some questions that need your help.

First, is the 3D pose provided by AcinoSet in the world coordinate system (i.e., "fte.pickle"->traj_data["positions"])? Is the measurement in meters?
Second, can the 3D pose in the world coordinate system be converted to the camera coordinate system through the "R, T" parameter in "n_cam_scene_sba.json"?

Thanks.

zicodasilva commented Jun 27, 2022

Hi @maicoa, thanks for reaching out and using our dataset :)

Yes the 3D positions in the pickle file are referenced to the world coordinate system.
Yes, the world referenced 3D positions can be transformed to the camera coordinate system by using the camera rotation R and translation t in the scene JSON file. For a particular camera, you can get the positions referenced in it's coordinate system by X_cam = R*X_world + t.

Hope that helps.

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