{"action":"created","issue":{"url":"https://api.github.com/repos/intel-isl/Open3D/issues/1340","repository_url":"https://api.github.com/repos/intel-isl/Open3D","labels_url":"https://api.github.com/repos/intel-isl/Open3D/issues/1340/labels{/name}","comments_url":"https://api.github.com/repos/intel-isl/Open3D/issues/1340/comments","events_url":"https://api.github.com/repos/intel-isl/Open3D/issues/1340/events","html_url":"https://github.com/intel-isl/Open3D/issues/1340","id":527186347,"node_id":"MDU6SXNzdWU1MjcxODYzNDc=","number":1340,"title":"RGBD_integration pose format in trajectory.log file","user":{"login":"andreasmarxer","id":45263298,"node_id":"MDQ6VXNlcjQ1MjYzMjk4","avatar_url":"https://avatars1.githubusercontent.com/u/45263298?v=4","gravatar_id":"","url":"https://api.github.com/users/andreasmarxer","html_url":"https://github.com/andreasmarxer","followers_url":"https://api.github.com/users/andreasmarxer/followers","following_url":"https://api.github.com/users/andreasmarxer/following{/other_user}","gists_url":"https://api.github.com/users/andreasmarxer/gists{/gist_id}","starred_url":"https://api.github.com/users/andreasmarxer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/andreasmarxer/subscriptions","organizations_url":"https://api.github.com/users/andreasmarxer/orgs","repos_url":"https://api.github.com/users/andreasmarxer/repos","events_url":"https://api.github.com/users/andreasmarxer/events{/privacy}","received_events_url":"https://api.github.com/users/andreasmarxer/received_events","type":"User","site_admin":false},"labels":[{"id":493292415,"node_id":"MDU6TGFiZWw0OTMyOTI0MTU=","url":"https://api.github.com/repos/intel-isl/Open3D/labels/bug","name":"bug","color":"ee0701","default":true,"description":null}],"state":"open","locked":false,"assignee":{"login":"qianyizh","id":5875217,"node_id":"MDQ6VXNlcjU4NzUyMTc=","avatar_url":"https://avatars0.githubusercontent.com/u/5875217?v=4","gravatar_id":"","url":"https://api.github.com/users/qianyizh","html_url":"https://github.com/qianyizh","followers_url":"https://api.github.com/users/qianyizh/followers","following_url":"https://api.github.com/users/qianyizh/following{/other_user}","gists_url":"https://api.github.com/users/qianyizh/gists{/gist_id}","starred_url":"https://api.github.com/users/qianyizh/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/qianyizh/subscriptions","organizations_url":"https://api.github.com/users/qianyizh/orgs","repos_url":"https://api.github.com/users/qianyizh/repos","events_url":"https://api.github.com/users/qianyizh/events{/privacy}","received_events_url":"https://api.github.com/users/qianyizh/received_events","type":"User","site_admin":false},"assignees":[{"login":"qianyizh","id":5875217,"node_id":"MDQ6VXNlcjU4NzUyMTc=","avatar_url":"https://avatars0.githubusercontent.com/u/5875217?v=4","gravatar_id":"","url":"https://api.github.com/users/qianyizh","html_url":"https://github.com/qianyizh","followers_url":"https://api.github.com/users/qianyizh/followers","following_url":"https://api.github.com/users/qianyizh/following{/other_user}","gists_url":"https://api.github.com/users/qianyizh/gists{/gist_id}","starred_url":"https://api.github.com/users/qianyizh/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/qianyizh/subscriptions","organizations_url":"https://api.github.com/users/qianyizh/orgs","repos_url":"https://api.github.com/users/qianyizh/repos","events_url":"https://api.github.com/users/qianyizh/events{/privacy}","received_events_url":"https://api.github.com/users/qianyizh/received_events","type":"User","site_admin":false},{"login":"syncle","id":18297113,"node_id":"MDQ6VXNlcjE4Mjk3MTEz","avatar_url":"https://avatars0.githubusercontent.com/u/18297113?v=4","gravatar_id":"","url":"https://api.github.com/users/syncle","html_url":"https://github.com/syncle","followers_url":"https://api.github.com/users/syncle/followers","following_url":"https://api.github.com/users/syncle/following{/other_user}","gists_url":"https://api.github.com/users/syncle/gists{/gist_id}","starred_url":"https://api.github.com/users/syncle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/syncle/subscriptions","organizations_url":"https://api.github.com/users/syncle/orgs","repos_url":"https://api.github.com/users/syncle/repos","events_url":"https://api.github.com/users/syncle/events{/privacy}","received_events_url":"https://api.github.com/users/syncle/received_events","type":"User","site_admin":false}],"milestone":null,"comments":1,"created_at":"2019-11-22T13:09:27Z","updated_at":"2019-11-22T16:24:17Z","closed_at":null,"author_association":"NONE","body":"I currently started working with the rgbd_integration for generating a colored 3D mesh.\r\nI did work with the example code and adapt it to my own dataset. At the point of generating the trajectory.log file with including the poses I got confussed.\r\n\r\nIn the documentation (http://redwood-data.org/indoor/fileformat.html) it is written that the transform should be from the camera to the world frame, the transform is: `[P_w; 1] = T_wc * [P_c; 1]`\r\n\r\nBut when doing so I got very bad results. Could it be that there is a fault in the documentation and on should use the inverse transfo from world to camera frame?\r\nBecause when doing so, I get better, but still not a really good 3d representation.\r\n\r\nI read also about another user posting about this in the Discord chat, but no answers were provided. \r\n![image](https://user-images.githubusercontent.com/45263298/69428498-a0c44f80-0d31-11ea-882f-ef38ef6920c1.png)\r\n\r\n\r\nAnother question regarding the example pose format:\r\n![image](https://user-images.githubusercontent.com/45263298/69428685-1e885b00-0d32-11ea-926e-21f666c3e76f.png)\r\n\r\nWhere is the origin of the world frame in the generated 3d mesh located?\r\nIt would make sense that it is at the first frame, therefore the first transform should have identity for rotation and no translation.But only the first rotation is identity, not the first translation.\r\nSo where is the origion of the world frame located in the example?"},"comment":{"url":"https://api.github.com/repos/intel-isl/Open3D/issues/comments/557598230","html_url":"https://github.com/intel-isl/Open3D/issues/1340#issuecomment-557598230","issue_url":"https://api.github.com/repos/intel-isl/Open3D/issues/1340","id":557598230,"node_id":"MDEyOklzc3VlQ29tbWVudDU1NzU5ODIzMA==","user":{"login":"germanros1987","id":38517452,"node_id":"MDQ6VXNlcjM4NTE3NDUy","avatar_url":"https://avatars3.githubusercontent.com/u/38517452?v=4","gravatar_id":"","url":"https://api.github.com/users/germanros1987","html_url":"https://github.com/germanros1987","followers_url":"https://api.github.com/users/germanros1987/followers","following_url":"https://api.github.com/users/germanros1987/following{/other_user}","gists_url":"https://api.github.com/users/germanros1987/gists{/gist_id}","starred_url":"https://api.github.com/users/germanros1987/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/germanros1987/subscriptions","organizations_url":"https://api.github.com/users/germanros1987/orgs","repos_url":"https://api.github.com/users/germanros1987/repos","events_url":"https://api.github.com/users/germanros1987/events{/privacy}","received_events_url":"https://api.github.com/users/germanros1987/received_events","type":"User","site_admin":false},"created_at":"2019-11-22T16:24:17Z","updated_at":"2019-11-22T16:24:17Z","author_association":"CONTRIBUTOR","body":"@syncle @qianyizh any ideas?"}}
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