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kxhit / vMAP

[CVPR 2023] vMAP: Vectorised Object Mapping for Neural Field SLAM
https://kxhit.github.io/vMAP
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Image height and width #17

Closed raabuchanan closed 6 months ago

raabuchanan commented 1 year ago

Hello,

in the config file for Replica dataset the following parameters are used:

"camera": {
        "w": 1200,
        "h": 680,
        "fx": 600.0,
        "fy": 600.0,
        "cx": 599.5,
        "cy": 339.5,
        "mw": 0,
        "mh": 0
    }

But actually the width of the image is 680 and the height is 1200. Also I notice the image are rotated counter clockwise by 90 degrees.

Can you explain why the camera config doesn't match the actual image size?

Thank you

kxhit commented 1 year ago

Hi, we just used a different order, nothing special here. In opencv and pytorch, the default order of image is H,W, while in our repo, its W,H.