problem about _depth_warping

lppllppl920 / EndoscopyDepthEstimation-Pytorch

Official Repo for the paper "Dense Depth Estimation in Monocular Endoscopy with Self-supervised Learning Methods" (TMI)

GNU General Public License v3.0

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problem about _depth_warping #33

Closed XC9292 closed 3 years ago

XC9292 commented 3 years ago

Hi @lppllppl920 from eq(7) in the paper, B=-Kt, while in the code it seems to be B=-KR.inv()*t. May I ask if it is because the pose is defined differently from the paper?

lppllppl920 commented 3 years ago

Yes, R.inv()*t is the translation part of the inverse of the transformation [R, t]. The definition of camera poses is different.

XC9292 commented 3 years ago

Thanks very much!