Comments (9)
The vaule of the depth map car/106_12650_23736/depths/frame000001.jpg.geometric.png
range from [16490-22649], which indicates the camera center is far from the object.
The color map of the depth (scaled by 1e-3):
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Hi, we provide tooling for operating with the depth maps loaded using the Co3DDataset object.
Specifically, this function
Line 92 in 8ad0f03
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Thanks. I will follow the scripts and let you know how it turns out.
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@colesbury Sorry to bother you agiain. I want to know some details about the depth maps.
Do the depth maps directly come from the COLMAP? Have you made any post-processing modifications to the depth maps?
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I guess i found the resaon why the depth map is not working.
The depth value in the depth maps should be loaded as 16 bit float number. The same as the _load_16bit_depth
Line 728 in b22f145
from co3d.
I guess i found the resaon why the depth map is not working.
The depth value in the depth maps should be loaded as 16 bit float number. The same as the _load_16bit_depth
Line 728 in b22f145
Hello, this projection is exactly what I need in my current project. However I didn't fully understand how you obtained it, I tried quite a few provided functions in this repository but it's a bit unclear how to use them. Please, could you tell us what steps you followed and which functions you used to get this nice point cloud?
For example, loading depth as 16 bit had a similar result as your first projection.
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@AlexisStdp Did you use the provided function to load depth? Please note the files are not a standard 16-bit PNG; the function reinterprets binary 16-bit values as floats.
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@shapovalov Thank you very much for your answer! I indeed used some of the provided functions to load depth, and to load RGB image. And some functions to get the frame_annotations.
Ideally if I could have the following setting it would be perfect: given an RGB image and a depth image (and the .jgz annotations), we load RGB and depth, we get the intrinsic (and maybe scale adjustment), and we backproject to get the partial point cloud.
In the provided code, it seems that the function "get_rgbd_point_cloud" is exactly that, but I'm unfortunately unable to make it work because I'm not sure how to get the argument "camera: CamerasBase" (is there a simple way I could get it?).
There is a function "get_co3d_sequence_pointcloud" which I tried to use in order to get this "camera" (because it itself uses "get_rgdp_point_cloud"), but inside of it the Dataloader didn't work for various reasons.
Is there maybe an alternative approach? - I tried using open3d for example but this gives me a "flat" point cloud (where all points seem to lie on a 2D plane).
Thanks in advance, and happy new year!
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@AlexisStdp Co3dDataset
should load the data in the required format. In particular, frame_data.camera
is in PyTorch3D format, which should be compatible with get_rgbd_point_cloud
. If that does not work for you, could you share more details?
If you want to dig deeper, this is the code that reads the Cameras object: https://github.com/facebookresearch/co3d/blob/main/dataset/co3d_dataset.py#L490
Note that the camera is in NDC coordinate system. Please refer to PyTorch3D documentation for details: https://pytorch3d.org/docs/cameras
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Related Issues (20)
- Pytorch independent usage convention HOT 2
- Is it possible to download only one category? HOT 2
- Camera Position Plots Don't Seem to Match Expected Circular Motion HOT 3
- Missing depth information for apple HOT 1
- Difference between v1 and v2 HOT 1
- How to only get 3d point Cloud?
- Camera Intrinsic parameter HOT 2
- Filter accurate pointclouds HOT 6
- CO3D Depth Unit HOT 1
- Confusion about the camera extrinsics HOT 2
- How can i get distortion coefficient? HOT 1
- Dataset index sequence_frames_in_order HOT 3
- Co3D depth warping HOT 1
- Contents of Single-Sequence Subset Compared to Full Dataset
- Generating camera poses using Colmap
- Format of camera poses listed in frame_annotations.jgz HOT 1
- Scale in co3d annotation file HOT 1
- Predicted camera poses evaluation HOT 2
- How to compute the rescale_factor when we zero-centered every point ?
- dataset/links.txt
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