Questions about data augmentation

[RobinhoodKi]

Thanks for your great work ! I have a question about data augmentation part. You applied random crop on images and I notice that you didn't apply same augmentation on camera intrinsic matrix. When you crop the images, then the parameters in camera intrinsic matrix like cx,cy will mismatch. Do you guys think fixing this will get some improvement or you leave this on purpose ?

Thanks again for your open-source !

[JUGGHM]

Thanks for your interest! We think that the camera intrinsic matrix should not be change. This is because when the image and the depth map are cropped, the corresponding coordinate X, Y, and Z can be also regarded as being cropped from original complete X, Y, Z maps. Meanwhile, the original coordinates are calculated from the original inputs. So there is no need to change. [Data flow: original inputs->original X, Y, Z->cropped X, Y, Z == cropped inputs->cropped X, Y, Z]