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princeton-vl / DROID-SLAM

BSD 3-Clause "New" or "Revised" License
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Some question about function projective_transform #49

Open 519174419 opened 2 years ago

519174419 commented 2 years ago

https://github.com/princeton-vl/DROID-SLAM/blob/8016d2b9b72b101a3e9ac804ebf20b4c654dc291/droid_slam/geom/projective_ops.py#L96 In function iproj(disps, intrinsics, jacobian=False):, the input is disp(1/depth), so the output pts result is (X/Z, Y/Z, 1, 1/Z); but during follow process (project / exclude points too close to camera)，it treats the 3-rd columns as disp（such as X1[...,2], X0[...,2]）,but it is almost equal to 1. it may be a problem? or just a special design?

panxkun commented 2 years ago

save question

863689877 commented 1 year ago

same question