A data generation pipeline for creating semi-realistic synthetic multi-object videos with rich annotations such as instance segmentation masks, depth maps, and optical flow.
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Fix half-pixel error in query points for point tracking #284
Fixes #280 : The underlying cause was that query points were output in pixel coordinates, rather than raster coordinates. Furthermore, for background points, the mapping between the query point and the depth passed a pixel coordinate into the inverse camera matrix, rather than a raster coordinate, meaning that the point being tracked was not necessarily even on a surface.
As a result, for objects, the query point is off by a half pixel, and for background points, the actual tracked point may be slightly off from the surface. This PR should fix both issues.
Fixes #280 : The underlying cause was that query points were output in pixel coordinates, rather than raster coordinates. Furthermore, for background points, the mapping between the query point and the depth passed a pixel coordinate into the inverse camera matrix, rather than a raster coordinate, meaning that the point being tracked was not necessarily even on a surface.
As a result, for objects, the query point is off by a half pixel, and for background points, the actual tracked point may be slightly off from the surface. This PR should fix both issues.