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zju3dv / Vox-Fusion

Code for "Dense Tracking and Mapping with Voxel-based Neural Implicit Representation", ISMAR 2022

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I have a question about coordinate system?

zhw-github opened this issue · comments

commented

Hi,
I'm not too clear about the relationship between the world coordinate system and the voxel coordinate system.
For each output offset t, you add 10 to prevent the coordinates from being less than 0.
Does the voxel coordinate system coincide with the coordinate system after offset?
x from back to front，y from left to right, z from bottom to top.
Where is this voxel coordinate system located in the whole volum, it is located at the vertex of the lowermost corner of the left rear.

commented

Hi,

Voxel coordinates are the actual coordinates divided by the voxel size, and the coordinate system is according to general 3D vision tasks, x from left to right, y from top to bottom, z from front to back for each camera frame.

The leaf node voxels are defined at the corners with minimum coordinates.