depth

[SISTMrL]

Hello, i run the code of visualization gt_depths with image, why it shows this way. I haven't done the depth estimation before, but i saw the depth images are not shown as this.

[zhangyp15]

The gt_depths are generated by projecting sparse LiDAR points onto multi-view images. Therefore, the visualized depth follows the pattern of LiDAR scanlines and is different from the commonly used dense depth.

[shabiouyang]

同学，你好，有一个问题请教一下，就是你们这个depth是多帧lidar叠加生成的吗？我看dataset文件夹的lidar2depth.py文件中lidar_points = np.fromfile(results['pts_filename'], 好像只用了一帧lidar，但是你们数据集中有sweeps，这里有点不太理解，望解答