About find_scale_from_depth inputs

[DanRos22]

DF-VO/vo_modules.py

Lines 766 to 768 in e9d91ba

	scale = self.find_scale_from_depth(
	cur_data[self.cfg.translation_scale.kp_src], ref_data[self.cfg.translation_scale.kp_src][ref_id],
	E_pose.inv_pose, self.cur_data['depth']

Why the depth map is taken from current sample (self.cur_data['depth']), and not taken from reference?
According to function definition and implementation in

DF-VO/vo_modules.py

Line 582 in e9d91ba

def find_scale_from_depth(self, kp1, kp2, T_21, depth2):

the depth should correspond to kp2 (which is ref), and not to kp1 (cur).
What am I missing?
Thanks for this work!

[Huangying-Zhan]

Hi @DanRos22 , sorry for late reply.
Please refer to the previous issue #7 .
Simple explanation will be:
cur_data[self.cfg.translation_scale.kp_src] actually stores kp_ref
while
ref_data[self.cfg.translation_scale.kp_src][ref_id] stores kp_cur.
The reason is mentioned in #7