Added a note regarding intrinsics normalization

JerryPW · Jul 9, 2020 · 3e479bd · 3e479bd
1 parent d1c5f03
commit 3e479bd
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/datasets/kitti_dataset.py b/datasets/kitti_dataset.py
@@ -21,6 +21,7 @@ class KITTIDataset(MonoDataset):
     def __init__(self, *args, **kwargs):
         super(KITTIDataset, self).__init__(*args, **kwargs)
 
+        # NOTE: Make sure your intrinsics matrix is *normalized* by the original image size    
         self.K = np.array([[0.58, 0, 0.5, 0],
                            [0, 1.92, 0.5, 0],
                            [0, 0, 1, 0],