Offset between point clouds generate by different script

[vmoyu]

Hi: First, thank you for your work. What I am doing now is to use Hololens 2 to scan some objects and get the point cloud, then choose the mark in point cloud to get the position.

My problem is I use two scripts to generate point clouds, and find there is a offset between them. Is this correct and how can I solve the problem?

1. sample_integrator_pv.py
2. sample_pv_depth_lt.py

The point cloud generated by sample_integrator_pv.py is correct after test. I want to use the sample_pv_depth_lt.py because it has a high color image resolution.

[jdibenes]

Hi, The pv_depth script point cloud is expressed in PV coordinates, try converting to world coordinates using PV extrinsics and pose.

[vmoyu]

Hi, I use the PV extrinsics and pose，it looks like there is a stable offset with the real world. I'll test it further..