How can I get depth image base on the "Slam-left" and "Slam-right" camera on EgoExo4d datasets?

Question

How can I get depth image base on the "Slam-left" and "Slam-right" camera on EgoExo4d datasets?

Hoyyyaard opened this issue 7 months ago · 3 comments

Hoyyyaard commented 7 months ago

Answer 1 · 2024-02-28T16:39:03.000Z

Hello @Hoyyyaard , please add some description to your question.

I believe you are asking how to retrieve a depth map from a binocular image rig.

to do that I would advise you to look at method to compute disparity from stereo images

Note that, ProjectAria Tools provides functions to retrieve the camera parameters (intrinsics and extrinsics) so you can get to know the baseline and rectify the image if required.

Please also note that Aria camera orientation has been optimized for Field of View (FoV) and not overlap or stereo depth recovery.

Calibration documentation
Image undistortion documentation

Answer 2 · 2024-02-29T19:00:40.000Z

@Hoyyyaard do you still have questions following our reply, else can you close the issue, thank you.

Answer 3 · 2024-03-02T02:47:34.000Z

@Hoyyyaard do you still have questions following our reply, else can you close the issue, thank you.

Thanks so much for your reply