Fix misalignment in depth<->RGB registration

microsoft / HoloLens2ForCV

Sample code and documentation for using the Microsoft HoloLens 2 for Computer Vision research.

MIT License

479 stars 144 forks source link

Fix misalignment in depth<->RGB registration #104

Closed ignacio-rocco closed 2 years ago

ignacio-rocco commented 2 years ago

Fixes misalignment in depth<->RGB registration produced by flipped sign in principal_point_x.
Fixes parsing of the timestamps, which were casted to floats instead of ints, introducing modifications of the values.
Uses floor instead of round for projection of points from 3D to 2D image space, assuming that the convention from COLMAP is adopted, where the 2D pixel coordinates are [0.5,...,H-0.5]x[0.5,...,W-0.5].
Fixes bug in masking of invalid 3D points

ghost commented 2 years ago

All CLA requirements met.

ignacio-rocco commented 2 years ago

CC: @fbogo, @kysucix

ignacio-rocco commented 2 years ago

CC: @hferrone

kysucix commented 2 years ago

Thanks a lot ignacio, @taeinkwon confirmed that this is fixing the misalignment between depth and RGB.

kevinlaw31 commented 1 year ago

Hi @ignacio-rocco Would you mind elaborating a bit more about "Fixes misalignment in depth<->RGB registration produced by flipped sign in principal_point_x." According to the source code: width-principal_point[0], you actually change the principle point ox, I cannot understand this modification. Thanks in advance.