whether intrinsics matrix is normalized?

[fanrz]

Hi weiyi,
nice job.
I have some questions.
when you use the intrinsics matrix in the Nuscenes dataset, I found you did not normalize the intrinsics matrix K.
In monodepth2, the intrinsics matrix is normalized by the original image size.
so the K = np.array([[0.58, 0, 0.5, 0],
[0, 1.92, 0.5, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]], dtype=np.float32)
some small values.
But in your work, the K is directly introduced without any change.
I wonder if this way is ok?

[weiyithu]

Hi, we have normalized the intrinsic in dataloader.

[fanrz]

sorry that I did not see it.
thanks for your reply