camera matrics and camera normals

README.md

@@ -148,6 +148,22 @@ depth_dpt               edges_dexined             opticalflow_rife  semantic_mas
 depth_sfm_manual202204  normals_sfm_manual202204  rgb               semantic_segprop8
 ```
 
+### 1.2.7 Convert Camera Normals to World Normals
+
+This is an optional step, but for some use cases, it may be better to use world normals instead of camera normals, which
+are provided by default in `normals_sfm_manual202204`. To convert, we provide camera rotation matrices in
+`raw_data/camera_matrics.tar.gz` for all 8 scenes that also have SfM.
+
+In order to convert, use this function (for each npz file):
+
+```
+def convert_camera_to_world(normals: np.ndarray, rotation_matrix: np.ndarray) -> np.ndarray:
+  normals = (normals.copy() - 0.5) * 2 # [-1:1] -> [0:1]
+  camera_normals = camera_normals @ np.linalg.inv(rotation_matrix)
+  camera_normals = (camera_normals / 2) + 0.5 # [0:1] => [-1:1]
+  return np.clip(camera_normals, 0.0, 1.0)
+```
+
 </details>
 
 ## 2. Using the data
@@ -270,6 +286,3 @@ scene
 all    60.456  73.261
 ```
 </details>
-
-## TODOs
-- convert camera normals to world normals

raw_data/camera_matrices.tar.gz

@@ -0,0 +1,3 @@
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