Unity RGB & Depthmaps misalignment

[erezposner]

Hi,

I've noticed that in the Unity sequences there are misalignments between all RGB & Depthmap image pairs.

For example, try loading one pair using the code below and you'll noticed that the edges in both images are not aligned.
I've attached a gif file for illustration.

import cv2
depthmap = cv2.imread('Data/EndoSlam/UnityCam/Colon/Pixelwise Depths/aov_image_0050.png',-1)[...,0]
rgb = cv2.imread('Data/EndoSlam/UnityCam/Colon/Frames/image_0050.png',-1)

plt.imshow(depth)
plt.show()

plt.imshow(rgb)
plt.show()

Can you please support this issue?
Thank you

[jaruanob]

Hi @erezposner

I have the same question. I supposed the ground truth depth has some wide-angle lens distortion correction. But, it would be useful that the authors clarify this issue.

I will be pending also, thanks.

[liuyq055]

th

I also have the same question. Have you resolved it?