Repository navigation
It seems some scenes in BLEFF have invalid gt poses #41
Description
Activity
Hi @cmh1027,
I did some quick checks and the rotation part is indeed not normalised. I am sorry for making this mistake in the dataset. Thanks for pointing this out!
I need to dig a little bit more to figure out the exact reason when I have time. I had a quick check with my blender-related code, and the issue might be caused by:
- the format of blender's rotation matrix;
- the way I add SE3 noise.
I also need to check whether all scenes and all noise levels have this issue when I have time.
Luckily I think the rotation part of
c2wsis still orthogonal, just not normalised. For now, a quick fix is to normalise the rotation part withsvd()after loadinggt_metas.json, for example:def normalise_rotmat(R_in): """ R_in: (N, 3, 3) R_out: (N, 3, 3) """ u, s, vh = np.linalg.svd(R_in) R_out = u @ vh return R_out R_normed = normalise_rotmat(c2ws[:, :3, :3]) c2ws[:, :3, :3] = R_normed
Let me know if this works for you!
Best,
ZiruiThanks for reply!
For instance, gt_metas.json of bed scene has corresponding c2w data.
If you check whether it is a valid SE(3) matrix (check if rotation part is orthonormal and determinant is 1), you'll notice that it is not a valid SE(3) matrix. Is there any possibility that c2w data is corrupted? Or, I just notice that if I multiply some value so that the determinant becomes 1, they suddenly become reasonable.