Meaning of "scale" parameter in nice_slam.yaml config

[Yash Sanjay Bhalgat]

Hi @Zzh2000 , can you please explain what is the purpose of the "scale" parameter in the nice_slam.yaml config here? Thank you.

[Zihan Zhu]

Hi Yash,
the "scale" in the config is only for iMAP*. You can check their paper Section 4.1 Implementation Details. " 3D point coordinates are normalised by 1/10 to be close to the [0, 1] range."