About inference intrinsics

[wuqun-tju]

Hello,

I try to infer intrinsics, I used gt_intrinsic to initiate the camera, and check the output["intrinsics"] of the model, but pred_intrinsics fx is twice than gt_intrinsic, eg: fx_pred = 1778 but fx_gt = 950

Did I miss some information or settings?

[lpiccinelli-eth]

Hey, thanks for your question! If you provide intrinsics, the model will use them to condition the depth prediction. However, it will still output the intrinsics it would have inferred. This means the predicted depth corresponds to the intrinsics you passed in. You can try this simple test: run the model once with intrinsics and once without. You’ll likely find that one predicted depth map is roughly double the other, reflecting the change in scale due to different intrinsics. Let me know if that’s what you observe!