Questions about the principal point of the croped image

[XiangLiu0731]

In "kitti_loader.py" file, the function load_calib() changes the principal point of image by the code """ K[0, 2] = K[0, 2] - 13; # from width = 1242 to 1216, with a 13-pixel cut on both sides K[1, 2] = K[1, 2] - 11.5; # from width = 375 to 352, with a 11.5-pixel cut on both sides """ but I find the data is croped from the bottom. In this case, I think the change of the principal point should be calculated as """ K[0, 2] = K[0, 2] - 13; # from width = 1242 to 1216, with a 13-pixel cut on both sides K[1, 2] = K[1, 2] - 23; # from width = 375 to 352, with a 23-pixel cut from the bottom """

[JUGGHM]

Thanks for your interest and question! I think it is a small bug left over from Fangchang Ma's code and you could correct it as you like.