A Question about the 6DoF

[wangzixing1998]

great job! However，In this code, I noticed that the projected box and image was scaled while training and inference, but nothing was done to the pose. I don't understand why. I would appreciate it if you can help me.

[vitoralbiero]

Hello @wangzixing1998,

So the pose doesn't need to be scaled, as what control the scale of it is the image intrinsics matrix, which is defined based on the image size.
Example, if you have an image 100x100, or 200x200, the pose will still be the same, only the intrinsics will need to be changed.
We do that when performing the calibration point loss, check here.

Hope this helps.