Recently I've been using the undistorted_color_images, undistorted_depth_images, and undistorted_camera_parameters to back-project the Matterport 3D dataset.
However, I found that if I project 2 different viewpoints, these point clouds may interfere with each other, as shown below.
I think it might be because the transformation matrix of each image in different viewpoints is independent rather than a relative global coordinate. So, I can't simply use the transformation matrix in the undistorted_camera_parameters to back-project the entire scan.
Hi, thank you for your great work!
Recently I've been using the undistorted_color_images, undistorted_depth_images, and undistorted_camera_parameters to back-project the Matterport 3D dataset.
However, I found that if I project 2 different viewpoints, these point clouds may interfere with each other, as shown below.
If I project 1 viewpoint using these files
It will project correctly as shown below.![image](https://github.com/niessner/Matterport/assets/32302140/95ff6b6e-5696-4512-b8af-21b898fabb06)
I think it might be because the transformation matrix of each image in different viewpoints is independent rather than a relative global coordinate. So, I can't simply use the transformation matrix in the undistorted_camera_parameters to back-project the entire scan.