Comments (2)
the demo video demo shows the rgbd map.
I'm currious about how to get this rgbd map. A possible method is depth image + intrinsic -> pointcloud -> aggragate all pointclouds with poses -> voxelization -> rgbd map. Could anybody know how to generate this rgbd map?
Hi, I don't know if you solve it or not, but the pipeline you mentioned is basically correct. The difficult point here is how to concatenate pointclouds. So, the first stuffs you need to prepare are the pointcloud of each depth in the camera coordinate.
At the same time, you should have the absolute pose for each camera. I don't use the pose generated by the pose encoder. In my dataset, I use the pose generated by the antenna gps. Anyway, if you don't have a more accurate pose source, maybe the pose from pose encoder is an option.
Then, you'd better set the first camera's pose as the initial pose and then transform the other pose into this coordinate system. Here are the mathematical computation.
R_ac = R_ab * R_bc
R_bc = inverse(R_ab) * R_ac
T_ac = T_ab + R_ab * T_bc
T_bc = inverse(R_ab) * (T_ac - T_ab)
where a is the absolute coordinate, b is the first frame's coordinate and c is the other coordinate.
Use R_bc and T_bc, you could transform all other pointcloud into the same coordinate of the first camera coordinate.
from manydepth.
Has anyone managed to produce the RGBD point cloud as in the demo and can share a script on how to achieve this?
from manydepth.
Related Issues (20)
- Training on NYU-V2 Dataset
- Stereo + Tempora (training with stereo video like monodepth2)
- About cityscapes disparity to depth_gt HOT 2
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- Depth Estimation Results on Single Frames
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- Help training out bright reflection... HOT 1
- About scale problem in monocular setting HOT 2
- Why the training time of manydepth is much shorter than monodepth2? HOT 3
- when i test the image,the result of the depth is black HOT 1
- About MAX gt_depth HOT 2
- Get gt depth for other Cityscape images HOT 2
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- About qualitative results presented in Figure 4 HOT 1
- The dataset GT-Calculation HOT 1
- what should the
- How to conduct multi GPU training
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from manydepth.