Egocentric video relocalization pipeline

• Step 1: Prepare a 3d scan folder with images, poses, 3d meshes, point cloud in ./data/scan and an egocentric video with images in data/egovideo. Sample data can be downloaded here.

• Step 2: run the following script for a relocalization of the egocentric video w.r.t the 3d scan mesh as:

./main.sh ./data/scan/ ./data/egovideo/

This will output 2 main files:

    1. ./data/egovideo/poses_reloc/camera_poses_pnp.npy

This is an ndarray of size (Nx3x4) where N is the number of egocentric images which stores the transformation from scans to camera coordinate.

    2. ./data/egovideo/poses_reloc/good_poses_pnp.npy

This is an ndarray of size (N,) where N is the number of egocentric images.

• Step 3: Visualize the output with meshlab. Add the following file to meshlab:
  1. /path/to/egocentric_video/poses_reloc/cameras_pnp.ply
  2. /path/to/3dscans/matterpak/*.obj