nerfstudio-project
feat request: scale attribute for coordinate frame
Current add_frame method takes in a position and a rotation to form a coordinate in SE3, is it possible to add a scale attribute to this, so the frame will be a coordinate in sim(3)? This is particular useful for my use case, as SLAM system faces scale drift, and when the system try to correct the scale, it has to change the pointcloud built before. I tried to do this by directly changing the point_cloud's data attribute, but it results in serious performance issue.(possibly due to large amount of data transfer). If there is a scale attribute for frame, I can bind the pointcloud to the frame, and whenever I try to correct the scale of the pointcloud, I can simply change the scale of the frame. Since the coordinate system in three.js takes in a scale attriubte, I think this could be possible?
Hi @victkk! Yes, we've thought about this and (assuming no big issues appear) can add it before the next release.
Instead of only adding scale support for add_frame, I'm thinking of doing a .scale property that's universal to all scene nodes. There are some details to work out around API consistency with the existing .scale properties, but it should be doable.
Hi @victkk! Yes, we've thought about this and (assuming no big issues appear) can add it before the next release.
Instead of only adding scale support for
add_frame, I'm thinking of doing a.scaleproperty that's universal to all scene nodes. There are some details to work out around API consistency with the existing.scaleproperties, but it should be doable.
I'd like to request an additional feature related to this one: adding another API for frames that allows setting the frame's coordinate using an arbitrary 4×4 transformation matrix. While the use cases for this might be fewer, one particularly interesting example is VGGT-SLAM, where the coordinate system is defined in SL(4). If this isn't considered a high priority, I'd be happy to try implementing it myself via a PR. However, it might take some time as I'm currently quite busy.
Noted, thanks!
Certainly lower priority so hard to make guarantees but I can see the value in either 4x4 transforms for general scene nodes or (if that's too hard for whatever reason) just supporting it for point clouds.