Bug in relative pose estimation?

[MarkYu98]

In utils.py L292:

SuperGluePretrainedNetwork/models/utils.py

Line 292 in ddcf11f

f_mean = np.mean([K0[0, 0], K1[1, 1], K0[0, 0], K1[1, 1]])

f_mean = np.mean([K0[0, 0], K1[1, 1], K0[0, 0], K1[1, 1]])

Shouldn't it be

f_mean = np.mean([K0[0, 0], K0[1, 1], K1[0, 0], K1[1, 1]])?

Though it might not cause any noticeable difference since most cameras have similar fx and fy :)

[zhangsngood]

Hello! There are also some questions hereabout eatimation issues. I would like to know how the relative extrinsic parameters in ./assets/scannet_test_pairs_with_gt.txt are obtained. If I know the camera pose extrinsics of two images, how is the relative pose extrinsics T_0to1 between these two poses. Does anyone have any idea about it?