The coordinate system for image coordinates is insufficiently documented. In particular, it is unclear whether the origin of the image coordinate system is defined at the top left pixel's corner or center. This is relevant for being able to correctly translate pixels into ray directions. I browsed through relevant ARCore documentation but could not find any place where this is specified. I would appreciate if the convention could be clarified here in the issue and recommend documenting this for others in suitable sections in the documentation. Ideally, from my point of view, it would be mentioned directly in the documentation of the CameraIntrinsics / Principal Point section at: https://developers.google.com/ar/reference/java/com/google/ar/core/CameraIntrinsics
SPECIFIC ISSUE ENCOUNTERED
The coordinate system for image coordinates is insufficiently documented. In particular, it is unclear whether the origin of the image coordinate system is defined at the top left pixel's corner or center. This is relevant for being able to correctly translate pixels into ray directions. I browsed through relevant ARCore documentation but could not find any place where this is specified. I would appreciate if the convention could be clarified here in the issue and recommend documenting this for others in suitable sections in the documentation. Ideally, from my point of view, it would be mentioned directly in the documentation of the CameraIntrinsics / Principal Point section at: https://developers.google.com/ar/reference/java/com/google/ar/core/CameraIntrinsics