{"action":"created","issue":{"url":"https://api.github.com/repos/alexsax/2D-3D-Semantics/issues/12","repository_url":"https://api.github.com/repos/alexsax/2D-3D-Semantics","labels_url":"https://api.github.com/repos/alexsax/2D-3D-Semantics/issues/12/labels{/name}","comments_url":"https://api.github.com/repos/alexsax/2D-3D-Semantics/issues/12/comments","events_url":"https://api.github.com/repos/alexsax/2D-3D-Semantics/issues/12/events","html_url":"https://github.com/alexsax/2D-3D-Semantics/issues/12","id":312305673,"number":12,"title":"Camera Pose Format","user":{"login":"N-McA","id":8830910,"avatar_url":"https://avatars1.githubusercontent.com/u/8830910?v=4","gravatar_id":"","url":"https://api.github.com/users/N-McA","html_url":"https://github.com/N-McA","followers_url":"https://api.github.com/users/N-McA/followers","following_url":"https://api.github.com/users/N-McA/following{/other_user}","gists_url":"https://api.github.com/users/N-McA/gists{/gist_id}","starred_url":"https://api.github.com/users/N-McA/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/N-McA/subscriptions","organizations_url":"https://api.github.com/users/N-McA/orgs","repos_url":"https://api.github.com/users/N-McA/repos","events_url":"https://api.github.com/users/N-McA/events{/privacy}","received_events_url":"https://api.github.com/users/N-McA/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-04-08T13:26:40Z","updated_at":"2018-04-10T14:53:49Z","closed_at":null,"author_association":"NONE","body":"Is a more detailed description available for the camera pose format?\r\n\r\nI was unable to determine how to transform from the point-cloud into camera coordinates.\r\n\r\nOne might assume that the usual application of the RT matrix would be sufficient, but it appears not. The T appears to be correct, but R does not align the axes appropriately in many images. I suspect this has something to do with the fields:\r\n\r\n\"camera_original_rotation\" and \"rotation_from_original_to_point\" but their correct use is not apparent to me."},"comment":{"url":"https://api.github.com/repos/alexsax/2D-3D-Semantics/issues/comments/380130614","html_url":"https://github.com/alexsax/2D-3D-Semantics/issues/12#issuecomment-380130614","issue_url":"https://api.github.com/repos/alexsax/2D-3D-Semantics/issues/12","id":380130614,"user":{"login":"ir0","id":13407438,"avatar_url":"https://avatars1.githubusercontent.com/u/13407438?v=4","gravatar_id":"","url":"https://api.github.com/users/ir0","html_url":"https://github.com/ir0","followers_url":"https://api.github.com/users/ir0/followers","following_url":"https://api.github.com/users/ir0/following{/other_user}","gists_url":"https://api.github.com/users/ir0/gists{/gist_id}","starred_url":"https://api.github.com/users/ir0/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ir0/subscriptions","organizations_url":"https://api.github.com/users/ir0/orgs","repos_url":"https://api.github.com/users/ir0/repos","events_url":"https://api.github.com/users/ir0/events{/privacy}","received_events_url":"https://api.github.com/users/ir0/received_events","type":"User","site_admin":false},"created_at":"2018-04-10T14:53:49Z","updated_at":"2018-04-10T14:53:49Z","author_association":"COLLABORATOR","body":"From the last image, the top-view floorplan, I see that you are using the \"aligned\" version of the point clouds. This version is not the globally registered one, but instead follows the alignment procedure discussed in Section 3.2 \"Canonical Coordinate System Among Spaces\" in the paper \"[3D Semantic Parsing of Large-Scale Indoor Spaces](http://buildingparser.stanford.edu/images/3D_Semantic_Parsing.pdf)\". \r\n\r\nI am not sure what steps you are following to get the point clouds (there are different ways), but I can help you go back to the original version if you tell me which file you are using and from which dataset (S3DIS or 2D3DS). If you fix this you should not have any misalignment issues. If you still find any, please let us know."}}
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