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devendrachaplot / Object-Goal-Navigation

Pytorch code for NeurIPS-20 Paper "Object Goal Navigation using Goal-Oriented Semantic Exploration"
https://devendrachaplot.github.io/projects/semantic-exploration
MIT License
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Hi what does ``screen_w`` and ``screen_h`` mean in SemanticMapping? #33

Open Yonggie opened 1 month ago

Yonggie commented 1 month ago

In model.py, this following code computes camera instrinsic parameters.

And based on the get camera matrix code, it seems that the screen_w being the width of cmos and so the screen_h? screen_h is 120 and screen_w is 160, which also exactly the same as downscaled depth shape. In this way, is the screen_w has double meaning as both the shape of depth and cmos shape?

        self.camera_matrix = du.get_camera_matrix(
            self.screen_w, self.screen_h, self.fov)