ETH3D depth and image mismatch

[fmagera]

Hi,

I noticed that the ground truth depth map and the image sizes do not match in the eth3d dataset.
Simply resizing/cropping them and overlaying them showcases a shift, is there a correct way to align them?

Example with a crop:

Example with resize:

Here's the code used to generate the overlays overlay_eth.py

Thanks a lot!

[rpautrat]

Hi,

I don't have access to the original code that produced this undistorted depth, but looking at the depth image dimensions, the undistorted depth has exactly the dimensions of the original raw camera, downsampled by 8 (in the cameras.txt file of the raw data, the image size is 6048x4032). The undistorted images have a different resolution, because of the undistortion.
So it could be that the depth and RGB images have been undistorted with different models, yielding different output resolutions.

I guess there is no simple fix to that, and the best would be to regenerate a better depth, by re-running the undistortion and making sure it remains the same for the RGB and depth.

[fmagera]

Thanks for the fast reply!
Yes indeed undistorting the binary depth maps seems to work.