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What is the 'input_channels_depth' parameter for? #10
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Related, but I also cannot find the part of the code in run_kbnet where the pretrained model weights are loaded for inference. EDIT: I see that the line |
Hi, so
which is passed to the run function here and it is restored here |
Ah okay, thank you. Now, I see that the validity map for the sparse data during inference is obtained for positive depths here:
Can I know what conditions you used to generate the validity map in the original dataset? I'm not sure about XIVO but I assume all VIO algorithms filter out points behind the camera. |
In the case VOID the validity map are taken as is based on the points tracked by XIVO and yes any point that is not visible in the frame is not valid. For KITTI however, the validity map and sparse point cloud may differ. Namely that we do a naive filtering to remove points that straddle occlusion boundaries. https://github.com/alexklwong/calibrated-backprojection-network/blob/master/src/kbnet.py#L411 |
Alright, that makes sense, thank you |
Hello,
In run_kbnet.py, you have an argument
'input_channels_depth'
whose default is 2; I'm not sure what this means.In networks.py, it's written that it is the "number of input channels for depth branch", but why would the depth be 2 channel?
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