Question about scene flow generation

[Linghao Chen]

I have a question about here.
When we are generating scene flow using optical flow and depth maps, shouldn't we interpolate on depth1 using x1 and y1, and then backproject using interpolated depths?
Thank you!

[Zach Teed]

Hi, this function is using the disparity_change to compute 3D flow. In sceneflow.py

depth1 = torch.from_numpy(intrinsics[0] / disp1).float()
depth2 = torch.from_numpy(intrinsics[0] / disp2).float()

# transformed depth
depth12 = torch.from_numpy(intrinsics[0] / (disp1 + disparity_change)).float()

flow3d = pops.backproject_flow3d(flow2d, depth1, depth12, intrinsics)

depth12 is already represented in the coordinates of the first frame, so no interpolation is necessary.

[Bayram Bayramli]

Hi,
how do you fine disparity_change in the above code snippet?
Thanks