Get ray origins, directions from a pinhole camera.

read list data

Get the transformation matrix to align the reconstructed mesh to the ground truth mesh.

Get the dataset class from the config file.

:param mesh: Mesh to be rendered :param poses: list of camera poses (c2w under OpenGL convention) :param K: camera intrinsics [3, 3]

:param points: :param poses: :param K: :param H: :param W: :param rendered_depth_list: :param remove_occlusion: :para

Get matrix representation of intrinsics.

pair images, depths, and poses

2D reconstruction metric, depth L1 loss. modified from NICE-SLAM :param rec_meshfile: path to culled reconstructed mesh .ply :param gt_me

3D reconstruction metric.

Check if points can be projected into the camera view.

:param points: :param scene_bounds: :param eps: :return:

:param points: mesh vertices [V, 3] np array :param pose: c2w under OpenGL convention (right-up-back) [3, 3] np array :param K: camera in

:param cfg: :param c2w_list: list of camera poses (c2w under OpenGL) :param mesh_path: :param save_path: :param save_unseen: save

:param extrinsic: c2w tranformation :return:

Loads config file. Args: path (str): path to config file. default_path (str, optional): whether to use default path. Defaults

Load poses from odometry.csv

read video data in tum-rgbd format

convert 4x4 pose matrix to (t, q)

Extract frames from video

quaternion to matrix

Update two config dictionaries recursively. Args: dict1 (dict): first dictionary to be updated. dict2 (dict): second dictiona

Turn a string into a list of string and number chunks. "z23a" -> ["z", 23, "a"]

3D reconstruction metric.