Is that possible to use 3 inputs to your model instead of 2 ? about penet_icra2021 HOT 3 OPEN

HI! Of course you could make an attempt. In our two-branch (actually hourglass-styled) backbone, the second (DD) branch could be regarded as a reprocessing procedure of the first (CD) branch prediction, which is actually a coarse predicted depth. Therefore, you could either feed the hand-crafted one into the second branch or even add a new third branch. And the third branch would function similarly as the second branch.

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Thank you so much, I will give a try as you suggested.

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Hi, @JUGGHM , sorry to ask you this question again, I want to back project the predicted depth map to point cloud coordinates, is that possible ? if so, can you give me code for back projection like input will be predicted depth map and output will be point cloud which will be denser in front view. Thank you.

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