what is the global reference coordinate system?

[CAN-Lee]

Hi,

It is an impressive work and I reproduced it successfully.

I'm a bit confused about the global reference coordinate system. How is it set?

Thanks

Can

[rover-xingyu]

Hi @CAN-Lee, thanks for your interest! Since we have global alignment optimization, the global coordinate system is not explicitly indicated. However, you can define it yourself as this.

[CAN-Lee]

Thanks for your kind reply.

Seen from the results of camera pose, i.e., "pred_traj.txt", my understanding is that after global optimization or alignment, the world coordinate system obtained is random rather than specified as the first frame. But in visualization, it can be specified as a certain frame.

Many thanks.

[CAN-Lee]

And one more question is that, the files (frame_*.npy) in obtained results are depth values? they are defined in camera coordinate or world coordinate systems ?