How to align the occupancy map coordination system with 3DGS?
#3
by
Wenzhe99
- opened
Hi, thanks for open-source the wonderful scene assets. As I am trying to render the images within the scenes, I get a bit confusing about the occupancy map.
First of all, what does the data in the occupancy.json mean, why the (upper+lower)/2.0 does not equal to center? Can you provide a formula indicating the mapping between a pixel coordinate (x,y) on the occupancy.png into the coordinate used for rendering with 3DGS?
Thanks again for releasing the dataset.
Hi and thank you for trying out our dataset.
Currently center uses a misleading name and it actually represents an arbitrary navigable point used during occupancy map generation, and you could convert between world frame and image frame as follow:
x_img = (-x_world + occupancy["upper"][0]) / occupancy["scale"]
y_img = (+y_world - occupancy["lower"][1]) / occupancy["scale"]
Please check out #4 for complete script.