Why 3d landmark detect is still needed thus we already have depth data?
In the paper only mentioned "2D landmarks for each frame are lifted from 2D to 3D using depth data" but not mentioned using 3D landmark detector model to detect 86 3D-landmarks, can only use depth data to map 2D landmarks to 3D by bfs depth search in file "optimization/rgbd/RGBD_utils/SparseFusion.py" function "bfs_find_corrospondence"?
Why 3d landmark detect is still needed thus we already have depth data?
In the paper only mentioned "2D landmarks for each frame are lifted from 2D to 3D using depth data" but not mentioned using 3D landmark detector model to detect 86 3D-landmarks, can only use depth data to map 2D landmarks to 3D by bfs depth search in file "optimization/rgbd/RGBD_utils/SparseFusion.py" function "bfs_find_corrospondence"?