RGB and thermal images are not properly aligned in some sets

[anja-sheppard]

Hi there,

I've noticed that the RGB and thermal images are not properly aligned sometimes, like in set day4/undistorted_images_all_cameras_20250828_004657. See the screenshot below where I have a tool that inspects the same 70 x 70 pixel patch on "aligned" images. Do you know why the alignment is inconsistent? I want to know if I can safely just exclude this subset of images or if I should not use the dataset at all due to more systemic alignment issues.

Thanks!

[anja-sheppard]

Now going through and checking other days and sets, some are even more heinously off (this example is from image 0010000 in day3/undistorted_images_all_cameras_20250826_125213.

[Parv-Maheshwari]

Please see #4

[LiuChunlin-eng]

Please see #4

How is the dataset aligned under different levels of mixing in the demo made? Do you plan to release or have you already released the 3D-aware alignment TartanRGBT dataset?

[Parv-Maheshwari]

• The level of mixing (alpha blend) is just for display to showcase alignment when overlaying the thermal and the aligned RGB on top of each other. The alpha blend does not affect the actual alignment.
• Unfortunately, for this dataset, being 3D aware is not possible since we do not have a ground truth dataset. However, our team is working on the second version of this dataset, with more sensors, including a Lidar, to provide much better alignment. We are also performing a complete calibration rather than relying on factory or CAD calibrations for this new dataset. Moreover the new dataset would cover 100+ hours of sequences

[LiuChunlin-eng]

ths，this will be very significant for 3dv. hope you release quickly!

…

---Original--- From: "Parv Archana ***@***.***> Date: Fri, Jul 31, 2026 01:04 AM To: ***@***.***>; Cc: "刘春林 Liu ***@***.******@***.***>; Subject: Re: [castacks/AnyThermal] RGB and thermal images are not properly aligned in some sets (Issue #7) Parv-Maheshwari left a comment (castacks/AnyThermal#7) The level of mixing (alpha blend) is just for display to showcase alignment when overlaying the thermal and the aligned RGB on top of each other. The alpha blend does not affect the actual alignment. Unfortunately, for this dataset, being 3D aware is not possible since we do not have a ground truth dataset. However, our team is working on the second version of this dataset, with more sensors, including a Lidar, to provide much better alignment. We are also performing a complete calibration rather than relying on factory or CAD calibrations for this new dataset. Moreover the new dataset would cover 100+ hours of sequences — Reply to this email directly, view it on GitHub, or unsubscribe. Triage notifications, keep track of coding agent tasks and review pull requests on the go with GitHub Mobile for iOS and Android. Download it today! You are receiving this because you commented.Message ID: ***@***.***>

[Parv-Maheshwari]

Please let me know if there is anything else regarding this issue, else I'll close it. Thank you.