About geo_loss

[kgkgkgjb]

Thank you for your contribution!
The homography matrix in your paper was solved using renderd_normal and renderd_distance, and Lmvgeom was solved using this homography matrix. But in the code, only the plane_depth is used for geo_loss, and there is no correspondence between the paper and the code?

[danpeng2]

Hello, the plane_depth is derived from rendered_normal and rendered_distance. The formula in the code is theoretically consistent with the one in the paper. For simplicity of implementation, we directly use plane_depth to calculate get_loss.

[Rickyeeeeee]

@kgkgkgjb actually there are two homographies calculated in the loss function code section, for the geo_loss(Lmvgeom) the homography is calculated from camera, and for the ncc_loss(Lmvrgb), the homography matrix is calculated using rendered_normal and rendered_distance as in the paper.