Different viewpoint images back projecting problem using undistorted_color_images.

[Mercy2Green]

Hi, thank you for your great work!

Recently I've been using the undistorted_color_images, undistorted_depth_images, and undistorted_camera_parameters to back-project the Matterport 3D dataset.

However, I found that if I project 2 different viewpoints, these point clouds may interfere with each other, as shown below.

dataset matterport
n_images 2358
depth_directory undistorted_depth_images
color_directory undistorted_color_images

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If I project 1 viewpoint using these files

dataset matterport
n_images 2358
depth_directory undistorted_depth_images
color_directory undistorted_color_images

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It will project correctly as shown below.

I think it might be because the transformation matrix of each image in different viewpoints is independent rather than a relative global coordinate. So, I can't simply use the transformation matrix in the undistorted_camera_parameters to back-project the entire scan.