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mileyan / pseudo_lidar

(CVPR 2019) Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving
https://mileyan.github.io/pseudo_lidar/
MIT License
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Confusion in GT Disparity Map #9

Closed rishimadhok closed 5 years ago

rishimadhok commented 5 years ago

Hi authors,

Thank you so much for providing the code for your paper. I have a query regarding the GT Disparity map that you generate using ./preprocessing/generate_disp.py

I downloaded the GT Disparity that you provided. However, it looks more like a LIDAR point cloud than a disparity image. Is this how it is supposed to be? I plotted the below GT using matplotlib WhatsApp Image 2019-07-08 at 12 59 31 PM

RGB image for the above GT disparity map is given below WhatsApp Image 2019-07-08 at 11 55 33 AM

Please let me know. Thank you!

mileyan commented 5 years ago

Hi Rishi, Yes, The disparity is correct. This disparity map is generated by LiDAR point cloud, that is the reason it looks very sparse.