Closed Kin-Zhang closed 1 year ago
Hi @Kin-Zhang
Thanks for pointing this out. The idea is that u is the row coordinate in the image in [0, image_width]
, whereas size_x
is half of the diameter of the area that is filled in by one vertex.
Therefore the width should be width = 2 * size_x + 1
, the second term + (u - u_min)
is to compensate for the case that the vertex overlaps with the left end of the image (right end is handled during aggregation). This term u-u_min
is size_x if u - size_x > 0
, i.e. when no shortening of the width is required, otherwise the width will be cropped.
Therefore, the equation should be width = u - u_min + size_x + 1
.
This should be fixed with of #58.
Codes here: https://github.com/ethz-asl/panoptic_mapping/blob/354597b7e4b5f5cfef4e57c467a0e4ec4230f9c3/panoptic_mapping/src/tracking/tracking_info.cpp#L36-L37
Question: It's a little bit weird for the
width
calculation. we assume thatu<size_x
, and the width will be3*size_x+1
, but the truth we want should be2*size_x+1
according to theu
.Is there any other I missed for understanding?