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ShuweiShao / AF-SfMLearner

[MedIA2022 & ICRA2021] Self-Supervised Monocular Depth and Ego-Motion Estimation in Endoscopy: Appearance Flow to the Rescue
MIT License
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problem about K in class SCAREDDataset #16

Closed CloudRobot closed 1 year ago

CloudRobot commented 1 year ago

K is camera internal parameters, and I found M is about [ 1.03530811e+03, 0., 5.96955017e+02, 0., 1.03508765e+03, 5.20410034e+02, 0., 0., 1. ] in scared dataset .

Why K is [[0.82, 0, 0.5, 0], [0, 1.02, 0.5, 0], [0, 0, 1, 0], [0, 0, 0, 1]] ?

Thanks !

ShuweiShao commented 1 year ago

Hi, K is normalized.

CloudRobot commented 1 year ago

Hi, K is normalized.

there are many forms of norm. Can you tell me which norm you used and show your formula .

ShuweiShao commented 1 year ago

Please refer to the lines 161 and 162 in code https://github.com/ShuweiShao/AF-SfMLearner/blob/main/datasets/mono_dataset.py

CloudRobot commented 1 year ago

Please refer to the lines 161 and 162 in code https://github.com/ShuweiShao/AF-SfMLearner/blob/main/datasets/mono_dataset.py

OK ,Thanks Very Much!