Depth decoding method in kitti_demo.py

[angshine]

I notice that in kitti_demo.py, you use

ord_score = ord_score/counts - 1.0
ord_score = (ord_score + 40.0)/25.0
ord_score = np.exp(ord_score)

to decode the ordinal regression result (index) to depth in meters. What is the relationship between this equation and the equations in the original paper, which are:

How do you merge these two equations into one, and what alpha and beta do you use?

[lixiang-ucas]

same problem