whether intrinsics matrix is normalized?

[fanrz]

Hi weiyi, nice job. I have some questions. when you use the intrinsics matrix in the Nuscenes dataset, I found you did not normalize the intrinsics matrix K. In monodepth2, the intrinsics matrix is normalized by the original image size. so the K = np.array([[0.58, 0, 0.5, 0], [0, 1.92, 0.5, 0], [0, 0, 1, 0], [0, 0, 0, 1]], dtype=np.float32) some small values. But in your work, the K is directly introduced without any change. I wonder if this way is ok?

[weiyithu]

Hi, we have normalized the intrinsic in dataloader.

[fanrz]

sorry that I did not see it. thanks for your reply