Both "intrinsics.txt" and the technical report claim a horizontal FoV of 60° and a vertical FoV of 45°. However, the point clouds corresponding to such FoV appear distorted. For example, the surfaces of the corner are apparently not orthogonal. The provided FoV is larger than expected.
I have examined a few cases where surfaces that are obviously supposed to be orthogonal and then fit the optimal value of FoV to make those surfaces orthogonal. The values I obtain are 42.3° horizontally and 32.4° vertically, with a standard deviation of less than 1°. The point cloud looks visually better.
Since the depth maps and surfaces look smooth and accurate, such an error is likely introduced in a post-processing step. Moreover. the FoV of 60°x45° does not imply a consistent focal length in the X-Y axes, as tan(30°):tan(22.5°) is far from the 4:3 aspect ratio. Would the authors please check the FoV after cropping?
Here are some side-by-side comparisons between the point clouds with the original FoV (60°) on the left and the corrected FoV (42.3°) on the right. All of them are viewed from the top.
Both "intrinsics.txt" and the technical report claim a horizontal FoV of 60° and a vertical FoV of 45°. However, the point clouds corresponding to such FoV appear distorted. For example, the surfaces of the corner are apparently not orthogonal. The provided FoV is larger than expected.
I have examined a few cases where surfaces that are obviously supposed to be orthogonal and then fit the optimal value of FoV to make those surfaces orthogonal. The values I obtain are 42.3° horizontally and 32.4° vertically, with a standard deviation of less than 1°. The point cloud looks visually better.
Since the depth maps and surfaces look smooth and accurate, such an error is likely introduced in a post-processing step. Moreover. the FoV of 60°x45° does not imply a consistent focal length in the X-Y axes, as tan(30°):tan(22.5°) is far from the 4:3 aspect ratio. Would the authors please check the FoV after cropping?
Here are some side-by-side comparisons between the point clouds with the original FoV (60°) on the left and the corrected FoV (42.3°) on the right. All of them are viewed from the top.