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jdibenes / hl2ss

HoloLens 2 Sensor Streaming.
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Offset between point clouds generate by different script #96

Open vmoyu opened 3 months ago

vmoyu commented 3 months ago

Hi: First, thank you for your work. What I am doing now is to use Hololens 2 to scan some objects and get the point cloud, then choose the mark in point cloud to get the position.

My problem is I use two scripts to generate point clouds, and find there is a offset between them. Is this correct and how can I solve the problem?

  1. sample_integrator_pv.py
  2. sample_pv_depth_lt.py

The point cloud generated by sample_integrator_pv.py is correct after test. I want to use the sample_pv_depth_lt.py because it has a high color image resolution.

jdibenes commented 3 months ago

Hi, The pv_depth script point cloud is expressed in PV coordinates, try converting to world coordinates using PV extrinsics and pose.

vmoyu commented 3 months ago

Hi, I use the PV extrinsics and pose，it looks like there is a stable offset with the real world. I'll test it further..