Doubts about the scale transformation for the sparse points
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YZsZY commented
Hello Author! I noticed that when loading the camera poses, the scale and position of the poses are spatially normalized using a scale mat to wrap the whole scene in a unit sphere, but I noticed that the sparse point cloud provided does not have such a normalization operation, whether the provided points.npy itself already did it?Otherwise it doesn't feel like it corresponds to the distribution of camera poses.
YZsZY commented
P = world_mat @ scale_mat
P = P[:3, :4]
intrinsics, pose = load_K_Rt_from_P(None, P)
while
pts_dir = os.path.join(self.data_dir, 'sfm_pts/points.npy')
view_id_dir = os.path.join(self.data_dir, 'sfm_pts/view_id.npy')
YZsZY commented