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cleinc / bts

From Big to Small: Multi-Scale Local Planar Guidance for Monocular Depth Estimation
GNU General Public License v3.0
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Can you explain why you scale the depth in your code? #63

Open swords123 opened 4 years ago

swords123 commented 4 years ago

I have found that you have this line in your code, can you explain why it need to do it, thank you!

final_depth = final_depth * focal.view(-1, 1, 1, 1).float() / 715.0873

cogaplex-bts commented 4 years ago

@swords123 Unlike NYU Depth v2 dataset, each scene of KITTI dataset has focal length different to each other. So, for testing with scenes from KITTI dataset, we finally scale depth estimations with focal value divided by average focal length computed across the training set.