salykova / instant-dexnerf Goto Github PK

May I ask how the file groundtruth_handeye.txt is obtained, I use the colmap software to get an error result

I run the colmap2nerf.py for canister dataset to obtain a new transform.json. However, it seems different from the one provided here(https://github.com/salykovaa/instant-DexNerf/blob/main/data/nerf/canister/transforms.json). I cannot sure if sth wrong? Thanks a lot!

Hi, thank you for your code! May I ask how to evaluate the depth map error in your case?

Hi and Thanks for your work!

I am trying to get the repo running with my own data. However, the extrinsics get messed up when loaded (they should point inward, not outward the circle):

I want to mention that the poses were generated with COLMAP in a transforms.json file. They are displayed correctly by instant-ngp and produce good results.

Also, I am getting this error when I try to start the training, which is probably because of it not being able to build the rays from the positions.

WARNING  Nerf training generated 0 samples. Aborting training.

Hi,

I have a question about the convention used in groundtruth_handeye.txt. How to generate it given the pose in COLMAP format?

I tried the following code to generate groundtruth_handeye.txt and then use it with instrinsics.txt to generated the json file using ours2nerf.py but the generated camera poses are incorrect, as shown below (they should be 360)

This code reads images.txt file in COLMAP format

	for line in f:
		line = line.strip()
		if line[0] == "#":
			continue
		i = i + 1
		if i < SKIP_EARLY*2:
			continue
		if  i % 2 == 1:
			elems=line.split(" ") # 1-4 is quat, 5-7 is trans, 9ff is filename (9, if filename contains no spaces)
			image_rel = os.path.relpath(IMAGE_FOLDER)
			name = str(f"./{image_rel}/{'_'.join(elems[9:])}")	
			image_id = int(elems[0])
			qvec = np.array(tuple(map(float, elems[1:5])))
			tvec = np.array(tuple(map(float, elems[5:8])))
			R = qvec2rotmat(qvec)
			t = tvec.reshape([3,1])
			m = np.concatenate([np.concatenate([R, t], 1), bottom], 0)
			c2w = np.linalg.inv(m)
			R = c2w[:3,:3]
			t = c2w[:3,3]
			q = rotm2quat(R)
			f_c2w_pose_file.write(f"{counter} {q[0]} {q[1]} {q[2]} {q[3]} {t[0]} {t[1]} {t[2]}\n")
			counter = counter + 1

The error is "colmap fail for some images". How to resolve it?