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CapsuleEndoscope / EndoSLAM

EndoSLAM Dataset and an Unsupervised Monocular Visual Odometry and Depth Estimation Approach for Endoscopic Videos: Endo-SfMLearner
https://data.mendeley.com/datasets/cd2rtzm23r/1
MIT License
235 stars 46 forks source link

Unity RGB & Depthmaps misalignment #13

Open erezposner opened 3 years ago

erezposner commented 3 years ago

Hi,

I've noticed that in the Unity sequences there are misalignments between all RGB & Depthmap image pairs.

For example, try loading one pair using the code below and you'll noticed that the edges in both images are not aligned. I've attached a gif file for illustration. 

import cv2
depthmap = cv2.imread('Data/EndoSlam/UnityCam/Colon/Pixelwise Depths/aov_image_0050.png',-1)[...,0]
rgb = cv2.imread('Data/EndoSlam/UnityCam/Colon/Frames/image_0050.png',-1)

plt.imshow(depth)
plt.show()

plt.imshow(rgb)
plt.show()

ezgif com-gif-maker (27)

Can you please support this issue? Thank you

jaruanob commented 3 years ago

Hi @erezposner

I have the same question. I supposed the ground truth depth has some wide-angle lens distortion correction. But, it would be useful that the authors clarify this issue.

I will be pending also, thanks.

liuyq055 commented 8 months ago

th

I also have the same question. Have you resolved it?