Comments (1)
![image](https://private-user-images.githubusercontent.com/88143953/262009641-a20e23f4-5d08-4754-b020-cadcbdc697e9.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE2MTQ1MTYsIm5iZiI6MTcyMTYxNDIxNiwicGF0aCI6Ii84ODE0Mzk1My8yNjIwMDk2NDEtYTIwZTIzZjQtNWQwOC00NzU0LWIwMjAtY2FkY2JkYzY5N2U5LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MjIlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzIyVDAyMTAxNlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTMwOTZkNGU5YWM5YWUzM2I4YjJkZTdhOWY5NTQ4OTcyODJkZTIxYTA1YjMyNDUxYjdhNzk5MWRjMmJhYTRjMjcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.EohpW-A31WR46fjFZ83Cgd6sB9BCjpPMw3oNWIDzVGQ)
As shown in Figure 5, the final depth is sampled from the real depth, so the range of the real depth (i.e., [0, dr]) must contain the range of the final depth (i.e., [2, 54]m).
In the paper, we set dv and fv to 54m and 800 pixels (i.e. less than the minimum focal length of the nuScenes cameras). Namely, fr > fv, which can deduce dr > dv = 54m. Therefore, the range of the real depth can contain the range of the final depth for all the nuScenes cameras.
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Related Issues (14)
- The expected code release date HOT 3
- ida和bda矩阵的意义是什么? HOT 1
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- polar representation
- ae_offset计算相关 HOT 3
- great work! when will the code be released? HOT 5
- Can Azimuth-invariant be applied to former methods? HOT 1
- There may be something wrong in exps/aedet,could please provide the accurate lss_r101_512_1408 config file? HOT 1
- 如何训练?
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