Incorrect FoV 60° x 45°, maybe 42.3° x 32.4°? #20
Description
Both "intrinsics.txt" and the technical report claim a horizontal FOV of 60° and a vertical FOV of 45°. However, the point clouds corresponding to such FOV appear distorted. For example, the surfaces of the corner are apparently not orthogonal. The provided FOV is larger than expected. Moreover. the FOV of 60°x45° does not imply a consistent focal length in the X-Y axes, as tan(30°):tan(22.5°) is far from the 4:3 aspect ratio.
I have examined a few cases where surfaces that are obviously supposed to be orthogonal and then fit the optimal value of FOV to make those surfaces orthogonal. The values I obtain are 42.3° horizontally and 32.4° vertically, with a standard deviation of less than 1°. The point cloud looks visually better.
Since the depth maps and surfaces look smooth and accurate, such an error is likely introduced in a post-processing step. Would the authors please check the FOV after cropping?
Here are some side-by-side comparisons between the point clouds with the original FOV (60°) on the left and the corrected FOV (42.3°) on the right. All of them are viewed from the top.
