Some question about function projective_transform

[519174419]

https://github.com/princeton-vl/DROID-SLAM/blob/8016d2b9b72b101a3e9ac804ebf20b4c654dc291/droid_slam/geom/projective_ops.py#L96 In function iproj(disps, intrinsics, jacobian=False):, the input is disp(1/depth), so the output pts result is (X/Z, Y/Z, 1, 1/Z); but during follow process (project / exclude points too close to camera)，it treats the 3-rd columns as disp（such as X1[...,2], X0[...,2]）,but it is almost equal to 1. it may be a problem? or just a special design?

[panxkun]

save question

[863689877]

same question