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Merge f101ee6b87 into 50e0e3c70c

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kunjikakgp 2026-07-20 18:43:19 +00:00 committed by GitHub
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nerfstudio/process_data/polycam_utils.py
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@ -74,6 +74,14 @@ def polycam_to_json(
if use_depth:
frame["depth_file_path"] = f"./depth/frame_{i + 1:05d}{depth_filenames[i].suffix}"
# Transform matrix to nerfstudio format. Please refer to the documentation for coordinate system conventions.
# Why the rows are permuted (see nerfstudio-project/nerfstudio#2474): Polycam's raw t_ij is a
# camera-to-world matrix in ARKit's world frame, which is right-handed with +Y up (row 1 = world Y).
# Nerfstudio's world frame is also right-handed but with +Z up (row 2 = world Z). Relabeling axes
# (X,Y,Z)_ARKit -> (Z,X,Y)_nerfstudio is a cyclic permutation, i.e. an even permutation of a
# right-handed basis, so it preserves handedness with no sign flips needed -- just a row reorder:
# nerfstudio row 0 (world X) <- ARKit row 2 (world Z)
# nerfstudio row 1 (world Y) <- ARKit row 0 (world X)
# nerfstudio row 2 (world Z, up) <- ARKit row 1 (world Y, up)
frame["transform_matrix"] = [
[frame_json["t_20"], frame_json["t_21"], frame_json["t_22"], frame_json["t_23"]],
[frame_json["t_00"], frame_json["t_01"], frame_json["t_02"], frame_json["t_03"]],