uvd convert to xyz coordination
hellojialee opened this issue · comments
Hi~ Thank you for your kind and great open source code. I have some issues in these following code:
xstart = int(math.floor((u * d / fx - cube_size / 2.) / d * fx))
xend = int(math.floor((u * d / fx + cube_size / 2.) / d * fx))
ystart = int(math.floor((v * d / fy - cube_size / 2.) / d * fy))
yend = int(math.floor((v * d / fy + cube_size / 2.) / d * fy))
in your code,
fx = 588.03
fy = 587.07
And I know fu,fv is decided because the original depth image is 640*480 pixel.
Are fx and fy decided by the camera? Where and How can I get them according to the NYU hand pose dataset? I'm a green hand and I haven't figure out the transforming between xyz and uvd coordination.
Could you pleas give me some help? Thank you!
Another issue: Is the joint xyz coordination in get h5dy data code also normalized to [-1,1] in your code just as the depth do?
Hi USTClj,
Yes, fx and fy are decided by the camera. It is obtained in convert_xyz_to_uvd.m
file in the official NYU hand dataset. And yes, x, y, and z are all normalized to [-1, 1] as training target.