Misleading depth scaling factor "DEPTH_IM_SCALE"

RobotLocomotion / pytorch-dense-correspondence

Code for "Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation"

https://arxiv.org/pdf/1806.08756.pdf

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Misleading depth scaling factor "DEPTH_IM_SCALE" #221

Open Zador-Pataki opened 1 year ago

Zador-Pataki commented 1 year ago

Hi, I am referring to lines 499: depth_vec = torch.index_select(img_a_depth_torch, 0, uv_a_vec_flattened)*1.0/DEPTH_IM_SCALE and 595: depth2_vec = torch.index_select(img_b_depth_torch, 0, uv_b_vec_flattened)*1.0/1000 in file correspondence_finder.py

If you change the depth scale variable DEPTH_IM_SCALE, there will be an incorrect filtering of correspondences