[Help wanted] How to get the tilt angle for a new RGBD image? about h3dnet HOT 5 CLOSED

I checked their provided SUN RGBD toolkit and I did not find the code for their automatic algorithm.
I will email the author for this algorithm. I am also curious about how often this algorithm fails.
I will let you know if I have some updates.

Thanks for your interest in our work btw!

Zaiwei

from h3dnet.

Hi,

This is a great question. I am actually very curious about it as well.
However, I do not have the answer. SUN-RGBD image frames come with a calibration R tilt matrix.
I have already emailed shuran, SUN-RGBD's author, about this issue.
I will let you know once I get some updates.

Thanks,
Zaiwei

from h3dnet.

Thanks for your quick reply.
I just checked the original SUN-RGBD paper. As you said, it did mention the alignment process as follows:

For 3D annotation, the point clouds are first rotated to align with the gravity direction using an automatic algorithm. We estimate the normal direction for each 3D point with the 25 closest 3D points. Then we accumulate a histogram on a 3D half-sphere and pick the maximal count from it to obtain the first axis. For the second axis, we pick the maximal count from the directions orthogonal to the first axis. In this way, we obtain the rotation matrix to rotate the point cloud to align with the gravity direction. We manually adjust the rotation when the algorithm fails.

It also mentioned that the algorithm may fail and need to manually fix the failure cases. I was wondering how often this algorithm fails.:joy:

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I still did not get any response from the author.

from h3dnet.

@zaiweizhang Thanks for your help anyway. I will try it later and will let you know if I found something useful. For now, I am closing this issue.

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