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Fix: depth unprojection #433

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Fix: depth unprojection #433

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4 changes: 2 additions & 2 deletions training/data/dataset_util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -400,8 +400,8 @@ def depth_to_cam_coords_points(
u, v = np.meshgrid(np.arange(W), np.arange(H))

# Unproject to camera coordinates
x_cam = (u - cu) * depth_map / fu
y_cam = (v - cv) * depth_map / fv
x_cam = (u - cu + .5) * depth_map / fu
y_cam = (v - cv + .5) * depth_map / fv
z_cam = depth_map

# Stack to form camera coordinates
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4 changes: 2 additions & 2 deletions vggt/utils/geometry.py
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Original file line number Diff line number Diff line change
Expand Up @@ -107,8 +107,8 @@ def depth_to_cam_coords_points(depth_map: np.ndarray, intrinsic: np.ndarray) ->
u, v = np.meshgrid(np.arange(W), np.arange(H))

# Unproject to camera coordinates
x_cam = (u - cu) * depth_map / fu
y_cam = (v - cv) * depth_map / fv
x_cam = (u - cu + .5) * depth_map / fu
y_cam = (v - cv + .5) * depth_map / fv
z_cam = depth_map

# Stack to form camera coordinates
Expand Down