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microsoft / HoloLensForCV

Sample code and documentation for using the Microsoft HoloLens for Computer Vision research
MIT License
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Wave Pattern - Hololens PCD #79

Open alemarro opened 5 years ago

alemarro commented 5 years ago

Hi all, could you tell me if the point cloud you extract from the Hololens also has this wave-like pattern? I made some tests which I want to share with you. Results below are from scanning a completely flat floor.

Darkroom (long_throw_sensor): snapshot03 snapshot01 snapshot02

Clear room (long_throw_sensor): withlight00 withlight01

I also have some data from the short_throw_sensor. Those also show the wave pattern. Here is the depth image: 00131919518650264146 There is a table (between other items). The point cloud shows a piece of the table deformed by the wave pattern. short00

Do you guys share the same result? Is there a way to avoid this pattern? Thanks

alemarro commented 5 years ago

Nobody having this issue? Am I doing anything wrong? Could anyone please give me feedback?

FracturedShader commented 5 years ago

@alemarro I had that exact issue, but mainly just ignored it. We ended up running some filtering functions to fill holes, and I think we tacked smoothing onto it as well. As far as I can tell, it's an accurate representation of the data.

alemarro commented 5 years ago

@FracturedShader Just this week I started using Bilateral Filter to smooth most of the noise, but in order to get rid of it, I end up smoothing too much and losing detail. I also made some comparison to SfM (structure from motion) with DSLR camera and the detail from the Hololens scans were not as good. I might be trying to use the Hololens for the wrong purposes thou (as 3D scan). Which filter are you using and parameters? If you dont mind me asking. Thank you.