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I used the original 64 line depth map to generate a 16 line depth map and input it into the E network, resulting in a significant decrease in accuracy, with RMSE reaching nearly 4000,May I ask if there is a problem with the code I modified, or if the low lidar scanline input has caused such a significant decrease in accuracy
The following is the code I used to generate low lidar scanline depth maps
import numpy as np
import cv2
def sample_lidar_lines(
depth_map: np.ndarray, intrinsics: np.ndarray, keep_ratio: float = 1.0
) -> np.ndarray:
"""
Takes in input a depth map generated by a 64 line lidar and sparsify the number of
lines used, returning a sparse depth map with less lidar lines.
Parameters
----------
depth_map: array like
sparse depth map of shape H x W x 1
intrinsics: array like
the intrinsic parameters of shape 3 x 3
keep_ratio: float, default 1.0
the sparsification parameter, 1.0 is 64 lines, 0.50 roughly 32 lines and so on.
Returns
-------
sparse_depth_map: array like
the sparsified depth map of shape H x W x 1
"""
I used the original 64 line depth map to generate a 16 line depth map and input it into the E network, resulting in a significant decrease in accuracy, with RMSE reaching nearly 4000,May I ask if there is a problem with the code I modified, or if the low lidar scanline input has caused such a significant decrease in accuracy
The following is the code I used to generate low lidar scanline depth maps
import numpy as np
import cv2
def sample_lidar_lines(
depth_map: np.ndarray, intrinsics: np.ndarray, keep_ratio: float = 1.0
) -> np.ndarray:
"""
Takes in input a depth map generated by a 64 line lidar and sparsify the number of
lines used, returning a sparse depth map with less lidar lines.
Parameters
----------
depth_map: array like
sparse depth map of shape H x W x 1
intrinsics: array like
the intrinsic parameters of shape 3 x 3
keep_ratio: float, default 1.0
the sparsification parameter, 1.0 is 64 lines, 0.50 roughly 32 lines and so on.
Returns
-------
sparse_depth_map: array like
the sparsified depth map of shape H x W x 1
"""
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