erik
Ah I understand what you are saying, I had chatGPT help revise the process for me, it goes as follow:
Initial Color Frame Stitching: Use the homography matrix to stitch together the color frames from different cameras. This step involves calculating the homography matrix for each pair of adjacent cameras and using it to warp and align the images into a single, cohesive panoramic or composite image.
Depth Map Alignment: Once you have your stitched color frame, you need to align the depth maps with this stitched image. This involves a two-step process:
Extrinsic Calibration: First, use the extrinsic calibration data (rotation and translation parameters) to align the depth maps from different cameras with each other. This step ensures that the depth information from different cameras is in the same coordinate system.
Depth Map Stitching: After aligning the depth maps, the next step is to stitch these maps in a way that corresponds to the stitched color frame. This could involve transforming the depth maps using the same homography matrices used for the color frames. However, depth maps represent 3D data, so simple homographic transformations might not suffice. Instead, you may need to project the depth data onto the image plane using the camera’s intrinsic parameters and then apply the homography.
Fine-Tuning with ICP: After aligning and stitching the depth maps, you can then fine-tune the alignment using the Iterative Closest Point (ICP) algorithm. This step is particularly useful for refining the position of the depth data in relation to the color frame, ensuring that the depth information accurately corresponds to the relevant sections of the color image.
Pairing Depth Map with Color Frame: The final step involves pairing the aligned and stitched depth map with the stitched color frame. This requires careful calibration to ensure that each pixel’s depth value in the depth map accurately corresponds to the same point in the color image.
The homography matrix is used for initial color frame stitching, while extrinsic calibration and potentially additional transformations are applied for depth map alignment. The final pairing of the depth map with the color frame requires careful calibration and fine-tuning to ensure accurate correspondence between depth and color data.
