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weiyithu / SurroundDepth

[CoRL 2022] SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation
MIT License
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Camera intrinsics when image flip #2

Closed hhhharold closed 2 years ago

hhhharold commented 2 years ago

Hi, I am confused that does the cx in intrinsics matrix need to change to w - cx when the image is flipped(horizontal)?

weiyithu commented 2 years ago

Yeah, you are right. Strictly, we need to change cx to w -cx if we do flipping. However, cx is around w/2 and we do not change it (following monodepth2). You may have a try and get higher performance.